diff --git "a/datasets/rmbench/keyframes/swap_blocks.json" "b/datasets/rmbench/keyframes/swap_blocks.json" new file mode 100644--- /dev/null +++ "b/datasets/rmbench/keyframes/swap_blocks.json" @@ -0,0 +1,7702 @@ +{ + "episode0": { + "n_frames": 622, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 150, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 191, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 236, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 272, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 313, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 350, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 384, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 417, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 452, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 465, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 519, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 621, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode1": { + "n_frames": 601, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 45, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 80, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 93, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 121, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 157, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 190, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 226, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 261, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 274, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 289, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 327, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 361, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 394, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 443, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 462, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 500, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 590, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 600, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode10": { + "n_frames": 598, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 135, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 167, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 304, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 341, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 462, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 499, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 532, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 587, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 597, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode11": { + "n_frames": 591, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 169, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 212, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 247, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 260, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 287, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 323, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 358, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 426, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 439, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 494, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 525, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 590, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode12": { + "n_frames": 586, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 170, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 206, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 241, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 254, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 281, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 318, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 386, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 449, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 488, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 520, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 575, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 585, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode13": { + "n_frames": 589, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 39, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 74, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 87, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 115, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 184, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 217, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 252, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 280, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 317, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 350, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 431, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 450, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 488, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 523, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 578, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode14": { + "n_frames": 611, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 48, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 85, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 168, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 203, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 236, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 271, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 284, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 300, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 339, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 371, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 403, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 440, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 472, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 510, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 600, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 610, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode15": { + "n_frames": 596, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 42, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 78, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 91, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 119, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 154, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 189, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 222, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 257, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 270, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 285, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 356, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 389, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 425, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 438, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 457, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 495, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 530, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 585, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 595, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode16": { + "n_frames": 614, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 49, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 88, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 105, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 138, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 172, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 207, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 240, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 275, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 288, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 303, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 342, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 374, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 406, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 442, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 474, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 513, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 548, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 603, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 613, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode17": { + "n_frames": 608, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 46, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 95, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 123, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 157, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 192, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 225, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 261, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 275, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 292, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 332, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 447, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 466, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 504, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 596, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode18": { + "n_frames": 589, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 170, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 206, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 241, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 254, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 280, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 319, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 352, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 387, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 422, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 523, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 578, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode19": { + "n_frames": 588, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 136, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 172, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 208, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 243, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 256, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 282, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 319, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 354, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 387, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 422, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 451, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 522, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 587, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode2": { + "n_frames": 588, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 38, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 73, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 113, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 149, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 182, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 250, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 262, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 277, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 316, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 348, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 380, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 417, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 449, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 487, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 522, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 587, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode20": { + "n_frames": 608, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 48, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 86, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 136, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 170, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 204, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 237, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 272, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 284, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 299, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 338, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 369, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 401, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 437, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 450, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 507, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 597, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode21": { + "n_frames": 596, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 45, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 94, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 122, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 156, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 191, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 259, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 272, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 288, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 326, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 357, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 389, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 425, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 438, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 457, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 495, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 530, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 585, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 595, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode22": { + "n_frames": 602, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 170, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 219, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 254, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 332, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 367, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 400, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 448, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 465, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 504, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 591, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 601, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode23": { + "n_frames": 596, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 46, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 95, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 123, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 157, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 191, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 259, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 271, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 286, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 325, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 357, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 389, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 425, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 438, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 457, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 495, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 530, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 585, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 595, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode24": { + "n_frames": 620, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 137, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 222, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 262, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 280, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 314, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 351, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 386, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 419, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 454, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 467, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 483, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 522, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 554, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 619, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode25": { + "n_frames": 613, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 135, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 170, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 201, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 237, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 250, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 269, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 307, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 344, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 390, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 427, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 444, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 476, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 512, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 602, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 612, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode26": { + "n_frames": 598, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 135, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 214, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 249, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 262, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 289, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 328, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 399, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 446, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 499, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 530, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 585, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 597, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode27": { + "n_frames": 611, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 46, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 83, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 130, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 164, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 231, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 266, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 278, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 294, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 333, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 399, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 448, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 467, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 505, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 600, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 610, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode28": { + "n_frames": 627, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 39, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 74, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 90, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 113, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 155, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 226, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 262, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 275, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 294, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 332, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 369, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 405, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 440, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 519, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 552, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode29": { + "n_frames": 588, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 166, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 197, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 233, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 265, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 303, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 340, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 377, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 412, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 425, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 522, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 587, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode3": { + "n_frames": 597, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 36, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 71, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 137, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 169, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 200, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 236, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 249, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 306, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 343, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 386, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 498, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 531, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 586, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 596, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode30": { + "n_frames": 597, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 166, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 305, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 342, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 498, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 531, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 586, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 596, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode31": { + "n_frames": 610, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 43, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 133, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 168, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 203, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 236, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 271, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 283, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 299, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 338, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 370, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 402, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 438, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 451, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 509, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 599, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 609, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode32": { + "n_frames": 608, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 135, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 216, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 254, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 269, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 302, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 340, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 375, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 408, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 443, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 510, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 597, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode33": { + "n_frames": 595, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 97, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 166, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 197, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 233, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 265, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 303, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 340, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 384, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 433, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 497, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 529, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 584, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 594, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode34": { + "n_frames": 644, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 167, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 304, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 340, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 389, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 436, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 459, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 501, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 545, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 578, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 633, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 643, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode35": { + "n_frames": 594, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 42, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 77, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 90, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 117, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 153, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 187, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 220, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 255, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 283, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 322, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 355, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 387, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 423, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 530, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 583, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 593, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode36": { + "n_frames": 598, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 172, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 218, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 253, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 331, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 399, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 446, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 500, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 532, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 587, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 597, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode37": { + "n_frames": 596, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 170, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 250, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 292, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 329, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 397, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 444, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 459, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 498, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 530, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 585, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 595, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode38": { + "n_frames": 594, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 43, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 78, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 91, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 119, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 154, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 189, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 221, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 256, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 269, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 284, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 324, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 355, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 387, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 423, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 528, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 583, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 593, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode39": { + "n_frames": 616, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 135, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 168, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 200, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 237, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 251, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 270, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 308, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 346, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 388, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 428, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 448, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 517, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 550, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 605, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 615, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode4": { + "n_frames": 595, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 250, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 290, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 327, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 443, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 458, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 497, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 529, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 584, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 594, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode40": { + "n_frames": 595, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 170, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 251, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 291, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 328, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 442, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 458, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 497, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 529, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 584, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 594, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode41": { + "n_frames": 603, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 46, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 95, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 124, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 160, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 194, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 262, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 274, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 293, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 332, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 397, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 433, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 446, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 465, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 504, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 537, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 592, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 602, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode42": { + "n_frames": 595, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 37, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 72, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 137, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 170, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 201, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 236, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 249, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 306, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 343, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 433, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 460, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 497, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 529, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 584, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 594, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode43": { + "n_frames": 591, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 167, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 199, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 235, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 249, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 268, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 306, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 343, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 379, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 414, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 427, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 527, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode44": { + "n_frames": 588, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 38, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 73, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 113, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 147, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 182, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 250, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 262, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 279, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 318, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 431, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 450, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 488, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 522, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 587, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode45": { + "n_frames": 590, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 167, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 304, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 341, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 378, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 413, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 426, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 524, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 579, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 589, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode46": { + "n_frames": 599, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 215, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 250, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 290, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 327, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 442, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 458, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 497, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 588, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 598, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode47": { + "n_frames": 593, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 42, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 77, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 90, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 118, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 152, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 187, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 220, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 255, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 282, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 321, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 527, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 582, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode48": { + "n_frames": 608, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 167, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 304, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 340, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 423, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 440, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 472, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 508, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 597, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode49": { + "n_frames": 608, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 217, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 253, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 270, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 302, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 338, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 373, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 407, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 442, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 510, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 597, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode5": { + "n_frames": 615, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 49, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 89, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 108, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 141, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 175, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 210, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 243, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 291, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 307, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 345, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 376, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 408, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 444, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 457, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 476, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 514, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 549, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 604, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 614, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode6": { + "n_frames": 600, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 46, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 81, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 95, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 124, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 161, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 194, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 262, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 275, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 290, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 329, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 361, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 393, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 443, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 462, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 500, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 589, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 599, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode7": { + "n_frames": 597, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 38, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 73, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 138, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 202, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 238, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 251, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 270, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 308, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 350, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 386, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 500, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 531, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 586, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 596, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode8": { + "n_frames": 596, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 70, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 167, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 265, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 303, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 340, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 498, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 530, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 585, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 595, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode9": { + "n_frames": 605, + "n_keyframes": 21, + "instruction": "There are three traies on the table, and two blocks are placed in two different traies. You may move only one block at a time, and each tray can hold at most one block. Swap the positions of the two blocks. Finally press the button.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 47, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 83, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 130, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the left block and move it to the right tray." + }, + { + "frame_idx": 164, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the right tray." + }, + { + "frame_idx": 199, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 232, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 267, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 279, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 331, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use left arm to pick up the left block and move it to the left tray." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 446, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 465, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 503, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use right arm to pick up the right block and move it to the middle tray." + }, + { + "frame_idx": 538, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 593, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 604, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + } +} \ No newline at end of file