| [ | |
| { | |
| "episode_id": 1023747, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a cabinet with drawers labeled \"toys\" and \"medicine\", with three items placed on top of it.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
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| "action_text": "Pull open the drawer's medicine drawer with the right arm.", | |
| "skill": "Pull" | |
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| "action_text": "Pick up the yellow plush toy on the drawer cabinet with the left arm.", | |
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| "action_text": "Place the held yellow plush toy into toy drawer with the left arm.", | |
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| "action_text": "Take the rubik's cube on the drawer cabinet with the right arm.", | |
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| { | |
| "episode_id": 1023796, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine\", three items resting atop the cabinet.", | |
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| { | |
| "episode_id": 1023899, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine,\" while three items rest atop the cabinet.", | |
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| "action_text": "Close the medicine drawer of the drawer cabinet with the left arm.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine\", where three items rest atop the surface.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine,\" where three items are placed on top of the cabinet.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"toys\" and \"medicine\", three items placed on top of the cabinet.", | |
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| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine\", with three items placed on top of the cabinet.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a dresser with drawers labeled \"Toys\" and \"Medicine,\" three items resting atop the cabinet.", | |
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| "task_name": "Open drawer and store items.", | |
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| "action_text": "Pick up the yellow plush toy on the drawer cabinet with the left arm.", | |
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| "action_text": "Close the drawer cabinet's toy drawer with the right arm.", | |
| "skill": "Push" | |
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| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1023960, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine\", where three items are placed atop the cabinet.", | |
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| { | |
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| "action_text": "Pull open the drawer's medicine drawer with the right arm.", | |
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| { | |
| "episode_id": 1023677, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is positioned in front of a dresser labeled with \"toys\" and \"medicine\" drawers, three items resting on its surface.", | |
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| { | |
| "episode_id": 1024057, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine\", three items resting atop the cabinet.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine\", three items resting atop the cabinet.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"toys\" and \"medicine\", with three items placed on top of it.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine,\" three items resting atop the cabinet.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"toys\" and \"medicine\", with three items placed on top of the dresser.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"Toys\" and \"Medicine,\" with three items placed on top of the cabinet.", | |
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| { | |
| "episode_id": 1024292, | |
| "task_name": "Open drawer and store items.", | |
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| { | |
| "episode_id": 1024307, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a chest of drawers labeled \"toys\" and \"medicine,\" with three items resting atop the cabinet.", | |
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| { | |
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| { | |
| "episode_id": 1024324, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine\", where three items rest atop the cabinet.", | |
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| "task_name": "Open drawer and store items.", | |
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| "init_scene_text": "The robot faces a cabinet with drawers labeled \"Toys\" and \"Medicine\", three items placed on top of it.", | |
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| "action_text": "Close the drawer cabinet's toy drawer with the right arm.", | |
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| } | |
| }, | |
| { | |
| "episode_id": 1024709, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a dresser with drawers labeled \"toys\" and \"medicine\", three items placed on top of the cabinet.", | |
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| { | |
| "episode_id": 1024628, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine\", three items placed on top of it.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
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| { | |
| "episode_id": 1024697, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"Toys\" and \"Medicine\", where three items rest atop the furniture.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "A robot faces a dresser with drawers labeled \"toys\" and \"medicine\", with three objects placed on top.", | |
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| { | |
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| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is in front of a dresser with drawers labeled \"toys\" and \"medicine,\" where three items rest atop the cabinet.", | |
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| { | |
| "episode_id": 1024816, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a dresser with drawers labeled \"toys\" and \"medicine,\" three items resting atop the cabinet.", | |
| "label_info": { | |
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| { | |
| "start_frame": 0, | |
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| "action_text": "Pull open the drawer's medicine drawer with the right arm.", | |
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| "action_text": "Take the vitamin on the drawer cabinet with the right arm.", | |
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| "action_text": "Place the held vitamin with the right arm into medicine drawer.", | |
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| "action_text": "Pick up the yellow plush toy on the drawer cabinet with the left arm.", | |
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| "action_text": "Place the held yellow plush toy into toy drawer with the left arm.", | |
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| "action_text": "Take the rubik's cube on the drawer cabinet with the right arm.", | |
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| { | |
| "episode_id": 1024990, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine,\" three items resting atop the cabinet.", | |
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| { | |
| "episode_id": 1025179, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine\", three items resting on top.", | |
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| { | |
| "episode_id": 1025202, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"toys\" and \"medicine\", with three items placed on top of the dresser.", | |
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| "action_text": "Take the vitamins on the drawer cabinet with the right arm.", | |
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| "action_text": "Place the held vitamins with the right arm into medicine drawer.", | |
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| { | |
| "episode_id": 1024864, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"toys\" and \"medicine,\" and three items are placed on top of the dresser.", | |
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| "action_text": "Place the held vitamin with the right arm into medicine drawer.", | |
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| { | |
| "episode_id": 1025217, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"toys\" and \"medicine\", and three items are placed on top of the dresser.", | |
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| { | |
| "episode_id": 1025352, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "A robot stands in front of a dresser with drawers labeled \"Toys\" and \"Medicine\", three items resting on its surface.", | |
| "label_info": { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| "action_text": "Take the round baby cotton swab on the drawer cabinet with the right arm.", | |
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| { | |
| "episode_id": 1025299, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser labeled \"toys\" and \"medicine\", with three items placed on top of the cabinet.", | |
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| { | |
| "episode_id": 1025339, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a cabinet with drawers labeled \"toys\" and \"medicine\", with three items placed on top of it.", | |
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| { | |
| "episode_id": 1025463, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a cabinet with drawers labeled \"toys\" and \"medicine,\" three items resting on its surface.", | |
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| { | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| "action_text": "Take the round baby cotton swab on the drawer cabinet with the right arm.", | |
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| "action_text": "Put the held round baby cotton swab into medicine drawer with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
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| } | |
| }, | |
| { | |
| "episode_id": 1025481, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine,\" three items resting on its surface.", | |
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| { | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
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| { | |
| "episode_id": 1025530, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a dresser with drawers labeled \"toys\" and \"medicine,\" with three items placed atop the cabinet.", | |
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| { | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| { | |
| "episode_id": 1025318, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"toys\" and \"medicine\", with three items placed on top of it.", | |
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| { | |
| "episode_id": 1025364, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a chest of drawers labeled \"toys\" and \"medicine,\" with three items resting atop the cabinet.", | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| { | |
| "episode_id": 1025546, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine,\" with three items placed on top of it.", | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| { | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
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| { | |
| "episode_id": 1025592, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"toys\" and \"medicine\", and three items are placed on top of the dresser.", | |
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| { | |
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| { | |
| "episode_id": 1025499, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a dresser with drawers labeled \"toys\" and \"medicine\", three items resting atop the cabinet.", | |
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| { | |
| "episode_id": 1025668, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a set of drawers labeled \"toys\" and \"medicine\", with three items placed on top of the cabinet.", | |
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| { | |
| "episode_id": 1025561, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"Toys\" and \"Medicine\", three items resting on its surface.", | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025632, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a cabinet with drawers labeled \"Toys\" and \"Medicine\", three items resting on its surface.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 50, | |
| "end_frame": 702, | |
| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
| }, | |
| { | |
| "start_frame": 702, | |
| "end_frame": 922, | |
| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
| "start_frame": 922, | |
| "end_frame": 1086, | |
| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
| }, | |
| { | |
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| "end_frame": 1379, | |
| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
| "skill": "Push" | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| { | |
| "start_frame": 2179, | |
| "end_frame": 2482, | |
| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| { | |
| "start_frame": 2750, | |
| "end_frame": 2937, | |
| "action_text": "Take the round baby cotton swab on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Put the held round baby cotton swab into medicine drawer with the right arm.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025614, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a dresser labeled \"toys\" and \"medicine\" on its drawers, with three items placed on top of it.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 36, | |
| "end_frame": 557, | |
| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
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| "end_frame": 735, | |
| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
| "skill": "Push" | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| { | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
| "skill": "Place" | |
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| { | |
| "start_frame": 2194, | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025740, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a dresser with drawers labeled \"toys\" and \"medicine\", three items resting atop the cabinet.", | |
| "label_info": { | |
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| { | |
| "start_frame": 30, | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
| "start_frame": 440, | |
| "end_frame": 610, | |
| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
| "skill": "Push" | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| { | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| { | |
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| "action_text": "Take the round baby cotton swab on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Put the held round baby cotton swab into medicine drawer with the right arm.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025689, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"Toys\" and \"Medicine,\" three items placed on top of the cabinet.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 51, | |
| "end_frame": 520, | |
| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
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| "end_frame": 679, | |
| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
| "skill": "Push" | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| { | |
| "start_frame": 1554, | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| { | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
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| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025722, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled toys and medicine, three items placed on top.", | |
| "label_info": { | |
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| { | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| { | |
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| "end_frame": 1987, | |
| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
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| { | |
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| { | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025844, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine,\" three items resting on its surface.", | |
| "label_info": { | |
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| { | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
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| { | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| { | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
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| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025759, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine,\" with three items resting atop the cabinet.", | |
| "label_info": { | |
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| { | |
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| { | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
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| { | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| { | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025780, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a chest of drawers with compartments labeled \"toys\" and \"medicine\", while three items rest on top of the cabinet.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| { | |
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| { | |
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| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025800, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot stands before a cabinet with drawers labeled \"Toys\" and \"Medicine\", three objects resting atop the furniture.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| { | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
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| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1025864, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine,\" three items resting on its surface.", | |
| "label_info": { | |
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| { | |
| "start_frame": 0, | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
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| { | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
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| { | |
| "episode_id": 1025882, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"Toys\" and \"Medicine\", three items placed atop the cabinet.", | |
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| { | |
| "episode_id": 1025823, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a chest of drawers with drawers labeled \"toys\" and \"medicine,\" three items placed on top.", | |
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| { | |
| "episode_id": 1026059, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine,\" three items placed atop the cabinet.", | |
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| { | |
| "episode_id": 1025898, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "A robot faces a dresser with drawers labeled \"Toys\" and \"Medicine,\" three items placed on top of the cabinet.", | |
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| { | |
| "episode_id": 1025938, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a dresser with drawers labeled \"Toys\" and \"Medicine,\" while three items rested atop the cabinet.", | |
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| { | |
| "episode_id": 1025959, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faced a dresser with drawers labeled \"Toys\" and \"Medicine\", three items resting on top of the cabinet.", | |
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| { | |
| "episode_id": 1026049, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a dresser with drawers labeled \"toys\" and \"medicine\", with three items placed on top of the cabinet.", | |
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| { | |
| "episode_id": 1026185, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser labeled \"toys\" and \"medicine\" drawers, with three items placed on top of the cabinet.", | |
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| { | |
| "episode_id": 1026106, | |
| "task_name": "Open drawer and store items.", | |
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| "start_frame": 2324, | |
| "end_frame": 2493, | |
| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1026120, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine\", with three items placed on top of the cabinet.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 541, | |
| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
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| "end_frame": 725, | |
| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
| "start_frame": 725, | |
| "end_frame": 825, | |
| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
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| { | |
| "start_frame": 825, | |
| "end_frame": 1013, | |
| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
| "skill": "Push" | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| { | |
| "start_frame": 1636, | |
| "end_frame": 1940, | |
| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
| "skill": "Place" | |
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| { | |
| "start_frame": 2170, | |
| "end_frame": 2350, | |
| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1026153, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a dresser with drawers labeled \"toys\" and \"medicine,\" with three items placed atop the cabinet.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
| "skill": "Push" | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| { | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
| "skill": "Place" | |
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| { | |
| "start_frame": 2053, | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
| "skill": "Place" | |
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| { | |
| "start_frame": 2427, | |
| "end_frame": 2569, | |
| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1026134, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine\", where three items rest atop the cabinet.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
| "end_frame": 547, | |
| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
| "start_frame": 547, | |
| "end_frame": 730, | |
| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
| "start_frame": 730, | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
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| { | |
| "start_frame": 854, | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| { | |
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| "action_text": "Take the round baby cotton swab on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Put the held round baby cotton swab into medicine drawer with the right arm.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
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| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1026206, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine\", three items resting on top.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
| "start_frame": 584, | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
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| { | |
| "start_frame": 1119, | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| { | |
| "start_frame": 1777, | |
| "end_frame": 1937, | |
| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| { | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
| "skill": "Pick" | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
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| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1026245, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine,\" while three items rest on top of the cabinet.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
| "skill": "Pull" | |
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| { | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| { | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
| "skill": "Push" | |
| } | |
| ] | |
| } | |
| }, | |
| { | |
| "episode_id": 1026222, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot is facing a cabinet with drawers labeled \"toys\" and \"medicine,\" and three items are placed on top of the cabinet.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
| "start_frame": 0, | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
| "skill": "Pull" | |
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| { | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
| "skill": "Place" | |
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| { | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Open the medicine drawer of the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Pick up the disinfectant on the drawer cabinet with the left arm.", | |
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| "action_text": "Place the held disinfectant into medicine drawer with the left arm.", | |
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| "action_text": "Take the round baby cotton swabs on the drawer cabinet with the right arm.", | |
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| "action_text": "Put the held round baby cotton swabs into medicine drawer with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
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| } | |
| }, | |
| { | |
| "episode_id": 1026312, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine\", with three items placed on top of the cabinet.", | |
| "label_info": { | |
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| { | |
| "start_frame": 0, | |
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| "action_text": "Pull open the drawer's toy drawer with the right arm.", | |
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| { | |
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| "action_text": "Take the toy duck on the drawer cabinet with the right arm.", | |
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| "action_text": "Place the held toy duck with the right arm into toy drawer.", | |
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| "action_text": "Close the toy drawer of the drawer cabinet with the left arm.", | |
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| { | |
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| "action_text": "Take the round baby cotton swab on the drawer cabinet with the right arm.", | |
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| { | |
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| "action_text": "Close the drawer cabinet's medicine drawer with the right arm.", | |
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| } | |
| }, | |
| { | |
| "episode_id": 1026299, | |
| "task_name": "Open drawer and store items.", | |
| "init_scene_text": "The robot faces a cabinet with drawers labeled \"toys\" and \"medicine,\" three items resting atop its surface.", | |
| "label_info": { | |
| "action_config": [ | |
| { | |
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| { | |
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| } | |
| } | |
| ] |