diff --git "a/datasets/rmbench/keyframes/press_button.json" "b/datasets/rmbench/keyframes/press_button.json" new file mode 100644--- /dev/null +++ "b/datasets/rmbench/keyframes/press_button.json" @@ -0,0 +1,9120 @@ +{ + "episode0": { + "n_frames": 574, + "n_keyframes": 24, + "instruction": "Observe the two numbers on the table. Press the left button the number of times corresponding to the number on the left, and press the middle button the number of times corresponding to the number on the right. Then press the right button once to confirm.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 0 + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 0 + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 0 + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 1 + }, + { + "frame_idx": 114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 1 + }, + { + "frame_idx": 125, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 2 + }, + { + "frame_idx": 164, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 2 + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 2 + }, + { + "frame_idx": 212, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 3 + }, + { + "frame_idx": 222, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 3 + }, + { + "frame_idx": 259, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 4 + }, + { + "frame_idx": 270, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 4 + }, + { + "frame_idx": 307, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 5 + }, + { + "frame_idx": 318, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 5 + }, + { + "frame_idx": 355, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 6 + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 6 + }, + { + "frame_idx": 403, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 7 + }, + { + "frame_idx": 414, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 7 + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 8 + }, + { + "frame_idx": 463, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 8 + }, + { + "frame_idx": 476, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the confirm button.", + "subtask_idx": 9 + }, + { + "frame_idx": 510, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the confirm button.", + "subtask_idx": 9 + }, + { + "frame_idx": 563, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Press the confirm button.", + "subtask_idx": 9 + }, + { + "frame_idx": 573, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Press the confirm button.", + "subtask_idx": 9 + } + ] + }, + "episode1": { + "n_frames": 527, + "n_keyframes": 22, + "instruction": "Observe the two numbers on the table. Press the left button the number of times corresponding to the number on the left, and press the middle button the number of times corresponding to the number on the right. Then press the right button once to confirm.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 0 + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 0 + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 0 + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 1 + }, + { + "frame_idx": 114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 1 + }, + { + "frame_idx": 152, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 2 + }, + { + "frame_idx": 163, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the left button one time.", + "subtask_idx": 2 + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 3 + }, + { + "frame_idx": 213, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 3 + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 3 + }, + { + "frame_idx": 261, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 4 + }, + { + "frame_idx": 272, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 4 + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 5 + }, + { + "frame_idx": 320, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 5 + }, + { + "frame_idx": 357, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 6 + }, + { + "frame_idx": 368, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 6 + }, + { + "frame_idx": 406, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 7 + }, + { + "frame_idx": 416, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the middle button one time.", + "subtask_idx": 7 + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the confirm button.", + "subtask_idx": 8 + }, + { + "frame_idx": 462, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the confirm button.", + "subtask_idx": 8 + }, + { + "frame_idx": 515, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Press the confirm button.", + "subtask_idx": 8 + }, + { + "frame_idx": 526, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Press the confirm button.", + "subtask_idx": 8 + } + ] + }, + "episode10": { + "n_frames": 629, + "n_keyframes": 26, + "instruction": "Observe the two numbers on the table. 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Press the left button the number of times corresponding to the number on the left, and press the middle button the number of times corresponding to the number on the right. 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