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| }, |
| { |
| "level": "subtask", |
| "text": "grasp the wood cube" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper to above the wood cube" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper to the right and forward" |
| } |
| ], |
| "quiz_anchor": "pick up the wood cube", |
| "quiz_geometry": "reach 144 145 187 231 133 114 201. grasp 126 127 128 255 128 129 125. object 144 141 205" |
| }, |
| { |
| "frame_start": 74, |
| "frame_end": 105, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "pick up the wood cube" |
| }, |
| { |
| "level": "subtask", |
| "text": "grasp the wood cube" |
| }, |
| { |
| "level": "motion", |
| "text": "lower the gripper onto the wood cube" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper down" |
| } |
| ], |
| "quiz_anchor": "pick up the wood cube", |
| "quiz_geometry": "reach 128 130 182 219 128 126 217. grasp 126 127 128 255 128 129 125. object 129 129 187" |
| }, |
| { |
| "frame_start": 105, |
| "frame_end": 135, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "pick up the wood cube" |
| }, |
| { |
| "level": "subtask", |
| "text": "grasp the wood cube" |
| }, |
| { |
| "level": "gripper", |
| "text": "close the gripper" |
| }, |
| { |
| "level": "gripper", |
| "text": "grip the wood cube" |
| } |
| ], |
| "quiz_anchor": "pick up the wood cube", |
| "quiz_geometry": "" |
| }, |
| { |
| "frame_start": 135, |
| "frame_end": 166, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "place the wood cube on the green tray" |
| }, |
| { |
| "level": "subtask", |
| "text": "put the wood cube down on the green tray" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper away from the wood cube" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper up" |
| } |
| ], |
| "quiz_anchor": "place the wood cube on the green tray", |
| "quiz_geometry": "reach 126 125 158 218 126 126 218. grasp 126 127 128 255 128 129 125. place 116 113 169 142 253 106 129. object 129 128 174" |
| }, |
| { |
| "frame_start": 166, |
| "frame_end": 223, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "place the wood cube on the green tray" |
| }, |
| { |
| "level": "subtask", |
| "text": "put the wood cube down on the green tray" |
| }, |
| { |
| "level": "motion", |
| "text": "move the wood cube to above the green tray" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper backward and to the left" |
| } |
| ], |
| "quiz_anchor": "place the wood cube on the green tray", |
| "quiz_geometry": "reach 115 113 162 229 116 137 204. grasp 126 127 128 255 128 129 125. place 117 115 174 143 253 106 127. object 129 128 174" |
| }, |
| { |
| "frame_start": 223, |
| "frame_end": 256, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "place the wood cube on the green tray" |
| }, |
| { |
| "level": "subtask", |
| "text": "put the wood cube down on the green tray" |
| }, |
| { |
| "level": "motion", |
| "text": "lower the wood cube onto the green tray" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper down" |
| } |
| ], |
| "quiz_anchor": "place the wood cube on the green tray", |
| "quiz_geometry": "reach 126 127 176 219 125 129 216. grasp 126 127 128 255 128 129 125. place 128 126 178 131 255 123 126. object 129 128 174" |
| }, |
| { |
| "frame_start": 256, |
| "frame_end": 286, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "place the wood cube on the green tray" |
| }, |
| { |
| "level": "subtask", |
| "text": "put the wood cube down on the green tray" |
| }, |
| { |
| "level": "gripper", |
| "text": "open the gripper" |
| }, |
| { |
| "level": "gripper", |
| "text": "release the wood cube" |
| } |
| ], |
| "quiz_anchor": "place the wood cube on the green tray", |
| "quiz_geometry": "" |
| }, |
| { |
| "frame_start": 286, |
| "frame_end": 317, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "pick up the green cube" |
| }, |
| { |
| "level": "subtask", |
| "text": "grasp the green cube" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper up" |
| } |
| ], |
| "quiz_anchor": "pick up the green cube", |
| "quiz_geometry": "reach 127 127 160 218 128 126 218. grasp 126 129 128 255 130 129 124. object 119 150 178" |
| }, |
| { |
| "frame_start": 317, |
| "frame_end": 371, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "pick up the green cube" |
| }, |
| { |
| "level": "subtask", |
| "text": "grasp the green cube" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper to above the green cube" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper to the right and forward" |
| } |
| ], |
| "quiz_anchor": "pick up the green cube", |
| "quiz_geometry": "reach 122 150 164 219 124 113 216. grasp 126 129 128 255 130 129 124. object 119 150 182" |
| }, |
| { |
| "frame_start": 371, |
| "frame_end": 402, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "pick up the green cube" |
| }, |
| { |
| "level": "subtask", |
| "text": "grasp the green cube" |
| }, |
| { |
| "level": "motion", |
| "text": "lower the gripper onto the green cube" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper down and to the right" |
| } |
| ], |
| "quiz_anchor": "pick up the green cube", |
| "quiz_geometry": "reach 126 130 179 218 128 125 218. grasp 126 129 128 255 130 129 124. object 128 131 185" |
| }, |
| { |
| "frame_start": 402, |
| "frame_end": 432, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "pick up the green cube" |
| }, |
| { |
| "level": "subtask", |
| "text": "grasp the green cube" |
| }, |
| { |
| "level": "gripper", |
| "text": "close the gripper" |
| }, |
| { |
| "level": "gripper", |
| "text": "grip the green cube" |
| } |
| ], |
| "quiz_anchor": "pick up the green cube", |
| "quiz_geometry": "" |
| }, |
| { |
| "frame_start": 432, |
| "frame_end": 463, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "place the green cube on the green tray" |
| }, |
| { |
| "level": "subtask", |
| "text": "put the green cube down on the green tray" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper away from the green cube" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper up" |
| } |
| ], |
| "quiz_anchor": "place the green cube on the green tray", |
| "quiz_geometry": "reach 125 125 160 219 127 124 217. grasp 126 129 128 255 130 129 124. place 155 90 164 139 218 38 122. object 129 127 176" |
| }, |
| { |
| "frame_start": 463, |
| "frame_end": 505, |
| "commands": [ |
| { |
| "level": "subtask", |
| "text": "place the green cube on the green tray" |
| }, |
| { |
| "level": "subtask", |
| "text": "put the green cube down on the green tray" |
| }, |
| { |
| "level": "motion", |
| "text": "move the green cube to above the green tray" |
| }, |
| { |
| "level": "motion", |
| "text": "move the gripper to the left and up" |
| } |
| ], |
| "quiz_anchor": "place the green cube on the green tray", |
| "quiz_geometry": "reach 153 93 156 255 120 139 133. grasp 126 129 128 255 130 129 124. place 157 93 168 143 218 39 122. object 129 127 176" |
| } |
| ] |
| } |
| ] |
| } |
