| { |
| "video_path": "/inspire/ssd/project/robotsimulation/public/users/zhangjiahui/vla-fly-wheel/EO1/hugg_data/rmbench_lerobot/mn_3views/battery_try/videos/chunk-000/observation.images.cam_high/episode_000000.mp4", |
| "episode_id": "0", |
| "nframes": 669, |
| "fps": 30.0, |
| "segments": [ |
| { |
| "seg_id": 0, |
| "start_frame": 0, |
| "end_frame": 76, |
| "instruction": "With both arms, grasp the two batteries from the table.", |
| "task": "manipulation", |
| "params": { |
| "action": "grasp", |
| "target": "the two batteries", |
| "gripper": "both", |
| "prep": "" |
| }, |
| "rmbench_subtask_id": 0, |
| "rmbench_subtask_instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.\n\nUse dual arm to pick up the batteries and place them into the battery slots in the positive direction." |
| }, |
| { |
| "seg_id": 1, |
| "start_frame": 76, |
| "end_frame": 267, |
| "instruction": "With both arms, insert the batteries into the battery slots in the positive direction.", |
| "task": "manipulation", |
| "params": { |
| "action": "insert", |
| "target": "the batteries", |
| "gripper": "both", |
| "prep": "into the battery slots, positive direction" |
| }, |
| "rmbench_subtask_id": 0, |
| "rmbench_subtask_instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.\n\nUse dual arm to pick up the batteries and place them into the battery slots in the positive direction." |
| }, |
| { |
| "seg_id": 2, |
| "start_frame": 267, |
| "end_frame": 314, |
| "instruction": "Grasp the left battery with the left gripper.", |
| "task": "manipulation", |
| "params": { |
| "action": "grasp", |
| "target": "the left battery", |
| "gripper": "left", |
| "prep": "" |
| }, |
| "rmbench_subtask_id": 1, |
| "rmbench_subtask_instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.\n\nPick up the left battery and place it into the battery slot in the negative direction." |
| }, |
| { |
| "seg_id": 3, |
| "start_frame": 314, |
| "end_frame": 470, |
| "instruction": "Insert the battery into the battery slot in the negative direction using the left arm.", |
| "task": "manipulation", |
| "params": { |
| "action": "insert", |
| "target": "the battery", |
| "gripper": "left", |
| "prep": "into the battery slot, negative direction" |
| }, |
| "rmbench_subtask_id": 1, |
| "rmbench_subtask_instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.\n\nPick up the left battery and place it into the battery slot in the negative direction." |
| }, |
| { |
| "seg_id": 4, |
| "start_frame": 470, |
| "end_frame": 517, |
| "instruction": "Grasp the right battery with the right gripper.", |
| "task": "manipulation", |
| "params": { |
| "action": "grasp", |
| "target": "the right battery", |
| "gripper": "right", |
| "prep": "" |
| }, |
| "rmbench_subtask_id": 2, |
| "rmbench_subtask_instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.\n\nPick up the right battery and place it into the battery slot in the negative direction." |
| }, |
| { |
| "seg_id": 5, |
| "start_frame": 517, |
| "end_frame": 669, |
| "instruction": "Insert the right battery into the battery slot in the negative direction using the right arm.", |
| "task": "manipulation", |
| "params": { |
| "action": "insert", |
| "target": "the right battery", |
| "gripper": "right", |
| "prep": "into the battery slot, negative direction" |
| }, |
| "rmbench_subtask_id": 2, |
| "rmbench_subtask_instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.\n\nPick up the right battery and place it into the battery slot in the negative direction." |
| } |
| ], |
| "task_instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate." |
| } |
|
|
