diff --git "a/datasets/rmbench/keyframes/place_block_mat.json" "b/datasets/rmbench/keyframes/place_block_mat.json" new file mode 100644--- /dev/null +++ "b/datasets/rmbench/keyframes/place_block_mat.json" @@ -0,0 +1,13302 @@ +{ + "episode0": { + "n_frames": 1078, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 182, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 251, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 333, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 450, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 510, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 576, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 612, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 628, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 649, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 688, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 722, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 754, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 790, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 806, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 826, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 865, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 901, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 933, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 969, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 985, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1006, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1045, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1077, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode1": { + "n_frames": 1062, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 177, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 210, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 246, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 262, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 279, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 318, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 354, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 387, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 423, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 438, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 527, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 560, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 596, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 611, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 666, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 701, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 733, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 770, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 786, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 811, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 850, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 885, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 916, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 952, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 967, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 992, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1031, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1061, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode10": { + "n_frames": 1066, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 106, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 146, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 179, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 212, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 248, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 359, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 392, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 428, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 443, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 460, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 499, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 566, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 602, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 618, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 635, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 674, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 709, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 741, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 777, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 793, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 814, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 853, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 887, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 920, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 956, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 994, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1033, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1065, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode11": { + "n_frames": 1062, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 105, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 180, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 211, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 247, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 286, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 325, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 360, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 393, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 429, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 444, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 500, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 566, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 602, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 617, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 634, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 673, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 708, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 740, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 776, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 791, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 811, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 850, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 884, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 917, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 953, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 969, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 990, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1029, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1061, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode12": { + "n_frames": 1102, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 91, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 120, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 166, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 212, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 251, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 287, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 303, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 324, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 363, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 431, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 467, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 482, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 499, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 538, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 605, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 641, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 657, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 674, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 713, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 748, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 780, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 816, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 832, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 852, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 925, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 958, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 994, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1009, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1069, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1101, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode13": { + "n_frames": 1071, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 87, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 150, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 184, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 217, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 253, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 333, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 449, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 470, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 509, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 576, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 612, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 628, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 648, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 687, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 722, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 755, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 791, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 806, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 823, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 862, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 896, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 981, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 998, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1037, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1070, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode14": { + "n_frames": 1076, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { 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"right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 332, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 449, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 466, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 505, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 539, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 572, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 641, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 680, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 746, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 782, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 798, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 823, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 862, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 897, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 982, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1044, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1075, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode15": { + "n_frames": 1062, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 106, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 178, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 211, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 247, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 284, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 323, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 358, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 427, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 442, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 459, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 498, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 532, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 565, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 601, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 616, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 633, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 672, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 707, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 739, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 775, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 791, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 812, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 851, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 885, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 918, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 954, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 970, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 991, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1030, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1061, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode16": { + "n_frames": 1066, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 107, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 146, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 179, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 212, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 248, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 359, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 431, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 446, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 463, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 502, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 569, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 605, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 621, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 638, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 712, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 745, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 781, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 796, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 817, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 856, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 889, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 922, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 958, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 973, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 994, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1033, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1065, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode17": { + "n_frames": 1068, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 209, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 245, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 260, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 276, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 315, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 350, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 494, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 528, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 561, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 597, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 613, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 633, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 672, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 705, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 737, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 774, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 790, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 814, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 853, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 887, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 920, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 956, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 998, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1037, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1067, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode18": { + "n_frames": 1072, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 148, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 182, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 251, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 330, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 447, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 468, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 507, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 540, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 573, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 646, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 685, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 750, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 786, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 802, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 822, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 861, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 894, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 927, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 978, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1000, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1039, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1071, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode19": { + "n_frames": 1069, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 150, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 183, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 330, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 431, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 447, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 468, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 507, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 646, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 685, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 720, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 753, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 789, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 804, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 821, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 860, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 894, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 927, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 979, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 996, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1035, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1068, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode2": { + "n_frames": 1068, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 208, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 244, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 260, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 277, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 316, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 384, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 457, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 496, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 530, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 563, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 599, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 615, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 636, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 675, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 707, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 739, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 776, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 792, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 816, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 855, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 890, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 923, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 959, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 974, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 999, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1036, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1067, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode20": { + "n_frames": 1062, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 107, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 146, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 179, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 212, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 248, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 284, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 323, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 358, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 427, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 442, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 459, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 498, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 532, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 565, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 601, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 617, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 634, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 673, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 708, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 741, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 777, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 793, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 813, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 852, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 886, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 919, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 955, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 970, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 991, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1030, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1061, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode21": { + "n_frames": 1067, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 207, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 243, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 259, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 275, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 314, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 349, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 417, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 432, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 529, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 560, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 596, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 612, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 633, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 672, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 705, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 737, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 774, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 790, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 814, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 853, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 887, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 920, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 956, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 997, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1034, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1066, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode22": { + "n_frames": 1086, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 183, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 330, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 448, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 508, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 575, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 629, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 650, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 689, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 722, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 754, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 790, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 809, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 833, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 873, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 940, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 976, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 992, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1017, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1054, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1085, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode23": { + "n_frames": 1062, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 107, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 146, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 179, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 212, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 248, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 359, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 392, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 428, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 443, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 459, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 498, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 532, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 565, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 601, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 616, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 633, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 672, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 707, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 740, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 776, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 792, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 813, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 852, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 886, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 919, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 955, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 971, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 991, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1030, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1061, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode24": { + "n_frames": 1065, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 208, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 244, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 259, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 276, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 315, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 350, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 494, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 528, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 561, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 597, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 613, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 634, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 673, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 706, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 738, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 774, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 790, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 814, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 853, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 887, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 920, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 956, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 971, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 996, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1033, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1064, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode25": { + "n_frames": 1081, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 148, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 186, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 219, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 255, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 271, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 333, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 368, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 401, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 437, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 508, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 575, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 644, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 683, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 750, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 788, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 805, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 829, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 868, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 902, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 935, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 971, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 986, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1048, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1080, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode26": { + "n_frames": 1069, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 182, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 251, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 292, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 329, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 431, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 447, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 468, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 507, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 648, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 687, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 722, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 755, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 791, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 806, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 823, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 862, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 897, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 964, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 980, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 996, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1035, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1068, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode27": { + "n_frames": 1066, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 183, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 292, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 329, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 431, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 446, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 463, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 502, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 568, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 604, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 620, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 637, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 676, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 713, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 745, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 781, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 797, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 817, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 856, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 889, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 922, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 958, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 973, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 994, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1033, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1065, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode28": { + "n_frames": 1074, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 36, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 73, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 89, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 154, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 187, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 220, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 256, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 272, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 335, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 370, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 403, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 439, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 470, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 509, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 613, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 628, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 645, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 684, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 719, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 752, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 788, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 803, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 823, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 862, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 898, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 982, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1003, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1042, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1073, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode29": { + "n_frames": 1085, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 182, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 251, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 335, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 369, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 405, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 441, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 456, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 473, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 512, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 578, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 614, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 634, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 651, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 690, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 725, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 756, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 792, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 808, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 833, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 872, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 906, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 939, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 975, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 990, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1015, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1052, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1084, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode3": { + "n_frames": 1059, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 105, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 179, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 212, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 248, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 359, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 392, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 428, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 443, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 460, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 499, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 566, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 602, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 618, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 635, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 674, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 710, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 743, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 779, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 794, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 811, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 850, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 884, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 917, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 953, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 968, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 985, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1024, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1058, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode30": { + "n_frames": 1074, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 209, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 245, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 261, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 278, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 317, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 386, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 422, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 438, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 459, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 498, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 532, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 565, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 601, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 617, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 638, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 710, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 742, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 779, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 795, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 820, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 859, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 893, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 926, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 978, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1004, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1041, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1073, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode31": { + "n_frames": 1071, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 209, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 245, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 261, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 278, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 317, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 352, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 458, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 497, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 531, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 564, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 600, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 615, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 636, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 675, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 708, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 740, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 777, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 793, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 817, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 856, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 890, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 923, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 959, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 975, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1000, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1038, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1070, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode32": { + "n_frames": 1071, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 150, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 183, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 330, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 433, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 449, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 510, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 613, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 629, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 650, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 689, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 724, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 757, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 793, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 808, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 825, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 864, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 897, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 982, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 998, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1037, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1070, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode33": { + "n_frames": 1077, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 182, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 251, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 292, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 331, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 399, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 450, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 467, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 506, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 540, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 573, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 641, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 680, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 747, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 784, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 800, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 825, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 864, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 898, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 931, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 982, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1044, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1076, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode34": { + "n_frames": 1069, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 183, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 330, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 449, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 466, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 506, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 539, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 572, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 641, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 680, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 749, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 785, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 800, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 817, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 856, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 890, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 923, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 959, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 979, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 995, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1034, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1068, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode35": { + "n_frames": 1066, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 207, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 243, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 260, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 276, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 315, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 350, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 494, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 528, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 561, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 597, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 613, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 634, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 673, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 705, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 737, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 773, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 789, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 813, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 852, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 886, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 919, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 955, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 971, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 996, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1033, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1065, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode36": { + "n_frames": 1067, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 148, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 182, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 251, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 291, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 328, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 447, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 464, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 503, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 569, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 605, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 622, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 639, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 712, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 744, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 780, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 796, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 817, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 856, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 890, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 923, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 959, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 975, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 996, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1035, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1066, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode37": { + "n_frames": 1071, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 107, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 146, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 179, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 212, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 249, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 265, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 359, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 427, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 442, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 460, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 499, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 566, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 602, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 618, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 634, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 673, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 708, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 740, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 777, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 793, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 817, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 857, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 891, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 924, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 960, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 976, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1001, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1038, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1070, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode38": { + "n_frames": 1062, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 183, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 294, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 332, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 399, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 450, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 467, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 506, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 539, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 572, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 640, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 679, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 747, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 783, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 798, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 815, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 854, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 888, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 921, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 957, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 988, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1027, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1061, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode39": { + "n_frames": 1064, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 105, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 180, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 211, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 247, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 361, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 394, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 445, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 462, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 501, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 567, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 603, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 619, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 636, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 675, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 713, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 746, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 782, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 797, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 814, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 853, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 888, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 921, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 957, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 973, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 990, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1029, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1063, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode4": { + "n_frames": 1056, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 208, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 244, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 260, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 277, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 315, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 384, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 525, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 594, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 610, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 666, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 701, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 734, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 770, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 786, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 807, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 846, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 880, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 913, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 949, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 964, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 984, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1023, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1055, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode40": { + "n_frames": 1091, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 38, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 74, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 89, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 106, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 178, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 211, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 247, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 280, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 319, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 354, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 386, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 422, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 458, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 497, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 531, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 564, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 600, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 615, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 635, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 674, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 707, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 739, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 775, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 791, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 816, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 855, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 889, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 922, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 958, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 979, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1054, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1090, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode41": { + "n_frames": 1076, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 106, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 180, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 211, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 247, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 359, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 392, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 428, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 443, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 460, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 499, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 567, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 603, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 619, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 637, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 676, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 712, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 746, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 783, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 799, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 824, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 863, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 897, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 981, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1006, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1044, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1075, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode42": { + "n_frames": 1066, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 209, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 245, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 261, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 277, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 316, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 352, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 526, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 559, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 595, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 610, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 666, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 701, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 734, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 770, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 786, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 806, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 845, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 879, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 912, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 950, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 965, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 986, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1025, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1065, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode43": { + "n_frames": 1067, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 208, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 244, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 259, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 275, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 314, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 349, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 527, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 560, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 596, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 611, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 632, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 671, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 704, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 736, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 772, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 788, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 813, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 852, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 886, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 919, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 955, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 971, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 996, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1035, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1066, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode44": { + "n_frames": 1081, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 148, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 182, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 251, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 291, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 331, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 448, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 508, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 575, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 648, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 687, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 720, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 752, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 788, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 804, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 828, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 867, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 901, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 934, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 970, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 986, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1048, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1080, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode45": { + "n_frames": 1064, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 209, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 245, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 261, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 277, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 316, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the 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"right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 494, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 528, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 561, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 597, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 613, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 633, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 672, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 705, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 737, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 773, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 789, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 813, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 852, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 886, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 919, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 955, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 970, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 995, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1032, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1063, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode46": { + "n_frames": 1071, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 106, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 178, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 211, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 247, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 284, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 323, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 358, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 427, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 442, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 460, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 499, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 566, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 602, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 618, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 635, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 674, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 709, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 741, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 779, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 795, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 820, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 860, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 894, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 926, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 962, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 977, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1002, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1039, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1070, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode47": { + "n_frames": 1068, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 183, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 332, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 397, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 433, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 449, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 508, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 647, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 686, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 721, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 754, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 790, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 805, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 822, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 861, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 894, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 927, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 979, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 995, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1034, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1067, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode48": { + "n_frames": 1069, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 106, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 178, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 211, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 248, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 359, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 392, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 428, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 443, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 463, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 502, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 569, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 606, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 621, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 638, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 712, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 745, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 781, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 797, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 818, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 857, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 891, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 924, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 960, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 976, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 997, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1036, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1068, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode49": { + "n_frames": 1069, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 105, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 178, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 211, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 247, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 284, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 323, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 358, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 390, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 426, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 441, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 465, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 504, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 537, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 570, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 606, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 621, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 638, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 712, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 745, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 781, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 797, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 818, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 857, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 891, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 924, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 960, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 976, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 997, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1036, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1068, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode5": { + "n_frames": 1077, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 183, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 333, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 367, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 400, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 436, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 451, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 468, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 507, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 540, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 573, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 681, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 747, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 784, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 800, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 825, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 864, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 900, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 931, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 982, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1046, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1076, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode6": { + "n_frames": 1080, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 148, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 183, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 214, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 250, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 292, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 329, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 394, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 446, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 467, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 507, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 647, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 686, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 719, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 751, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 787, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 803, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 827, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 866, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 900, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 933, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 969, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 985, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1049, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1079, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode7": { + "n_frames": 1066, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 148, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 181, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 214, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 251, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 292, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 330, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 431, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 446, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 466, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 505, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 538, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 571, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 607, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 623, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 643, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 682, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 717, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 750, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 786, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 801, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 818, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 857, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 891, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 924, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 960, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 976, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 993, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1032, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1065, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode8": { + "n_frames": 1072, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 105, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 177, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 210, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 246, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 261, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 282, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 321, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 355, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 387, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 423, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 439, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 460, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 499, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 566, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 602, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 617, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 638, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 710, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 742, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 779, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 795, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 819, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 858, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 892, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 925, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 961, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 977, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1002, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1039, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1071, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + }, + "episode9": { + "n_frames": 1076, + "n_keyframes": 37, + "instruction": "Pick up the blocks from the blue mat and place them on the green mat, then put them back on the original mat, starting from left to right.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 209, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 245, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 261, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 278, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 317, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the first block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 390, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 428, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 445, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 464, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 504, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 681, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the second block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 748, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 784, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 800, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 824, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 863, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 897, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 981, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1006, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1043, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + }, + { + "frame_idx": 1075, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the third block and move it onto the green mat and then return it to the original mat." + } + ] + } +} \ No newline at end of file