diff --git "a/A0-Dataset-converted/a0_maniskill_planning.json" "b/A0-Dataset-converted/a0_maniskill_planning.json" new file mode 100644--- /dev/null +++ "b/A0-Dataset-converted/a0_maniskill_planning.json" @@ -0,0 +1,163612 @@ +[ + { + "id": "maniskill_StackCube_out_449", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_449/frame_0041.jpg", + "maniskill/StackCube/images/episode_449/frame_0085.jpg", + "maniskill/StackCube/images/episode_449/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.374, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.577, 0.539]). The trajectory involves 60 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_449", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 44, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_449.json" + } + }, + { + "id": "maniskill_StackCube_out_899", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_899/frame_0050.jpg", + "maniskill/StackCube/images/episode_899/frame_0094.jpg", + "maniskill/StackCube/images/episode_899/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.382, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.258, 0.511]). The trajectory involves 56 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_899", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 44, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_899.json" + } + }, + { + "id": "maniskill_StackCube_out_916", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_916/frame_0050.jpg", + "maniskill/StackCube/images/episode_916/frame_0099.jpg", + "maniskill/StackCube/images/episode_916/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.373, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.557, 0.520]). The trajectory involves 68 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_916", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 49, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_916.json" + } + }, + { + "id": "maniskill_StackCube_out_902", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_902/frame_0042.jpg", + "maniskill/StackCube/images/episode_902/frame_0082.jpg", + "maniskill/StackCube/images/episode_902/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.340, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.471, 0.519]). The trajectory involves 52 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_902", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_902.json" + } + }, + { + "id": "maniskill_StackCube_out_708", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_708/frame_0042.jpg", + "maniskill/StackCube/images/episode_708/frame_0081.jpg", + "maniskill/StackCube/images/episode_708/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.417, 0.549]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.387, 0.560]). The trajectory involves 48 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_708", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 39, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_708.json" + } + }, + { + "id": "maniskill_StackCube_out_168", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_168/frame_0041.jpg", + "maniskill/StackCube/images/episode_168/frame_0059.jpg", + "maniskill/StackCube/images/episode_168/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.472, 0.505]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.517, 0.480]). The trajectory involves 48 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_168", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_168.json" + } + }, + { + "id": "maniskill_StackCube_out_334", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_334/frame_0041.jpg", + "maniskill/StackCube/images/episode_334/frame_0059.jpg", + "maniskill/StackCube/images/episode_334/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.354, 0.454]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.293, 0.431]). The trajectory involves 47 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_334", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 18, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_334.json" + } + }, + { + "id": "maniskill_StackCube_out_904", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_904/frame_0048.jpg", + "maniskill/StackCube/images/episode_904/frame_0097.jpg", + "maniskill/StackCube/images/episode_904/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.332, 0.431]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.489, 0.510]). The trajectory involves 61 precise waypoints with total movement distance of 0.298." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_904", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 49, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_904.json" + } + }, + { + "id": "maniskill_StackCube_out_356", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_356/frame_0051.jpg", + "maniskill/StackCube/images/episode_356/frame_0070.jpg", + "maniskill/StackCube/images/episode_356/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.463, 0.702]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.503]). The trajectory involves 64 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_356", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 19, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_356.json" + } + }, + { + "id": "maniskill_StackCube_out_432", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_432/frame_0043.jpg", + "maniskill/StackCube/images/episode_432/frame_0061.jpg", + "maniskill/StackCube/images/episode_432/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.464, 0.583]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.546, 0.530]). The trajectory involves 60 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_432", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_432.json" + } + }, + { + "id": "maniskill_StackCube_out_875", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_875/frame_0056.jpg", + "maniskill/StackCube/images/episode_875/frame_0097.jpg", + "maniskill/StackCube/images/episode_875/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.321, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.432, 0.523]). The trajectory involves 53 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_875", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 41, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_875.json" + } + }, + { + "id": "maniskill_StackCube_out_362", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_362/frame_0043.jpg", + "maniskill/StackCube/images/episode_362/frame_0082.jpg", + "maniskill/StackCube/images/episode_362/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.393, 0.459]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.500, 0.491]). The trajectory involves 50 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_362", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_362.json" + } + }, + { + "id": "maniskill_StackCube_out_315", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_315/frame_0039.jpg", + "maniskill/StackCube/images/episode_315/frame_0057.jpg", + "maniskill/StackCube/images/episode_315/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.369, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.339, 0.422]). The trajectory involves 57 precise waypoints with total movement distance of 0.111." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_315", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_315.json" + } + }, + { + "id": "maniskill_StackCube_out_633", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_633/frame_0053.jpg", + "maniskill/StackCube/images/episode_633/frame_0106.jpg", + "maniskill/StackCube/images/episode_633/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.266, 0.561]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.700]). The trajectory involves 68 precise waypoints with total movement distance of 0.383." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_633", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 53, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_633.json" + } + }, + { + "id": "maniskill_StackCube_out_369", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_369/frame_0053.jpg", + "maniskill/StackCube/images/episode_369/frame_0074.jpg", + "maniskill/StackCube/images/episode_369/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.317, 0.603]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.287, 0.492]). The trajectory involves 60 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_369", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 21, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_369.json" + } + }, + { + "id": "maniskill_StackCube_out_27", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_27/frame_0049.jpg", + "maniskill/StackCube/images/episode_27/frame_0092.jpg", + "maniskill/StackCube/images/episode_27/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.556, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.398, 0.460]). The trajectory involves 59 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_27", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 43, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_27.json" + } + }, + { + "id": "maniskill_StackCube_out_296", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_296/frame_0044.jpg", + "maniskill/StackCube/images/episode_296/frame_0089.jpg", + "maniskill/StackCube/images/episode_296/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.539, 0.606]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.727]). The trajectory involves 59 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_296", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_296.json" + } + }, + { + "id": "maniskill_StackCube_out_873", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_873/frame_0053.jpg", + "maniskill/StackCube/images/episode_873/frame_0073.jpg", + "maniskill/StackCube/images/episode_873/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.262, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.277, 0.417]). The trajectory involves 69 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_873", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 20, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_873.json" + } + }, + { + "id": "maniskill_StackCube_out_235", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_235/frame_0047.jpg", + "maniskill/StackCube/images/episode_235/frame_0066.jpg", + "maniskill/StackCube/images/episode_235/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.329, 0.555]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.299, 0.467]). The trajectory involves 50 precise waypoints with total movement distance of 0.107." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_235", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 19, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_235.json" + } + }, + { + "id": "maniskill_StackCube_out_249", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_249/frame_0035.jpg", + "maniskill/StackCube/images/episode_249/frame_0075.jpg", + "maniskill/StackCube/images/episode_249/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.346, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.428, 0.472]). The trajectory involves 51 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_249", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_249.json" + } + }, + { + "id": "maniskill_StackCube_out_598", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_598/frame_0049.jpg", + "maniskill/StackCube/images/episode_598/frame_0067.jpg", + "maniskill/StackCube/images/episode_598/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.487, 0.487]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.428, 0.503]). The trajectory involves 65 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_598", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 18, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_598.json" + } + }, + { + "id": "maniskill_StackCube_out_23", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_23/frame_0055.jpg", + "maniskill/StackCube/images/episode_23/frame_0073.jpg", + "maniskill/StackCube/images/episode_23/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.447, 0.571]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.558, 0.522]). The trajectory involves 58 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_23", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_23.json" + } + }, + { + "id": "maniskill_StackCube_out_307", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_307/frame_0042.jpg", + "maniskill/StackCube/images/episode_307/frame_0060.jpg", + "maniskill/StackCube/images/episode_307/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.450, 0.499]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.411, 0.464]). The trajectory involves 44 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_307", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_307.json" + } + }, + { + "id": "maniskill_StackCube_out_16", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_16/frame_0048.jpg", + "maniskill/StackCube/images/episode_16/frame_0084.jpg", + "maniskill/StackCube/images/episode_16/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.449, 0.536]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.522, 0.535]). The trajectory involves 43 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_16", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_16.json" + } + }, + { + "id": "maniskill_StackCube_out_967", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_967/frame_0054.jpg", + "maniskill/StackCube/images/episode_967/frame_0074.jpg", + "maniskill/StackCube/images/episode_967/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.409, 0.646]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.389, 0.543]). The trajectory involves 49 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_967", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 20, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_967.json" + } + }, + { + "id": "maniskill_StackCube_out_15", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_15/frame_0035.jpg", + "maniskill/StackCube/images/episode_15/frame_0053.jpg", + "maniskill/StackCube/images/episode_15/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.460, 0.542]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.397, 0.506]). The trajectory involves 49 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_15", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_15.json" + } + }, + { + "id": "maniskill_StackCube_out_822", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_822/frame_0033.jpg", + "maniskill/StackCube/images/episode_822/frame_0074.jpg", + "maniskill/StackCube/images/episode_822/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.451, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.328, 0.412]). The trajectory involves 64 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_822", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 41, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_822.json" + } + }, + { + "id": "maniskill_StackCube_out_318", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_318/frame_0040.jpg", + "maniskill/StackCube/images/episode_318/frame_0086.jpg", + "maniskill/StackCube/images/episode_318/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.292, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.490, 0.583]). The trajectory involves 60 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_318", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 46, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_318.json" + } + }, + { + "id": "maniskill_StackCube_out_543", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_543/frame_0039.jpg", + "maniskill/StackCube/images/episode_543/frame_0077.jpg", + "maniskill/StackCube/images/episode_543/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.482, 0.534]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.388, 0.435]). The trajectory involves 49 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_543", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 38, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_543.json" + } + }, + { + "id": "maniskill_StackCube_out_924", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_924/frame_0057.jpg", + "maniskill/StackCube/images/episode_924/frame_0092.jpg", + "maniskill/StackCube/images/episode_924/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.470, 0.534]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.530, 0.523]). The trajectory involves 42 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_924", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 35, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_924.json" + } + }, + { + "id": "maniskill_StackCube_out_800", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_800/frame_0052.jpg", + "maniskill/StackCube/images/episode_800/frame_0070.jpg", + "maniskill/StackCube/images/episode_800/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.351, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.370, 0.440]). The trajectory involves 54 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_800", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_800.json" + } + }, + { + "id": "maniskill_StackCube_out_210", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_210/frame_0041.jpg", + "maniskill/StackCube/images/episode_210/frame_0086.jpg", + "maniskill/StackCube/images/episode_210/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.310, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.547]). The trajectory involves 55 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_210", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 45, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_210.json" + } + }, + { + "id": "maniskill_StackCube_out_194", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_194/frame_0033.jpg", + "maniskill/StackCube/images/episode_194/frame_0076.jpg", + "maniskill/StackCube/images/episode_194/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.379, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.556, 0.579]). The trajectory involves 55 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_194", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 43, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_194.json" + } + }, + { + "id": "maniskill_StackCube_out_859", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_859/frame_0047.jpg", + "maniskill/StackCube/images/episode_859/frame_0066.jpg", + "maniskill/StackCube/images/episode_859/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.354, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.384, 0.475]). The trajectory involves 56 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_859", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 19, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_859.json" + } + }, + { + "id": "maniskill_StackCube_out_507", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_507/frame_0037.jpg", + "maniskill/StackCube/images/episode_507/frame_0075.jpg", + "maniskill/StackCube/images/episode_507/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.417, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.318, 0.455]). The trajectory involves 52 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_507", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 38, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_507.json" + } + }, + { + "id": "maniskill_StackCube_out_771", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_771/frame_0036.jpg", + "maniskill/StackCube/images/episode_771/frame_0073.jpg", + "maniskill/StackCube/images/episode_771/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.359, 0.485]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.497]). The trajectory involves 48 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_771", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 37, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_771.json" + } + }, + { + "id": "maniskill_StackCube_out_85", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_85/frame_0037.jpg", + "maniskill/StackCube/images/episode_85/frame_0077.jpg", + "maniskill/StackCube/images/episode_85/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.459, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.340, 0.463]). The trajectory involves 55 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_85", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 40, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_85.json" + } + }, + { + "id": "maniskill_StackCube_out_295", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_295/frame_0052.jpg", + "maniskill/StackCube/images/episode_295/frame_0070.jpg", + "maniskill/StackCube/images/episode_295/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.487, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.423, 0.458]). The trajectory involves 51 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_295", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_295.json" + } + }, + { + "id": "maniskill_StackCube_out_163", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_163/frame_0052.jpg", + "maniskill/StackCube/images/episode_163/frame_0102.jpg", + "maniskill/StackCube/images/episode_163/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.254, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.423, 0.656]). The trajectory involves 71 precise waypoints with total movement distance of 0.375." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_163", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 50, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_163.json" + } + }, + { + "id": "maniskill_StackCube_out_392", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_392/frame_0038.jpg", + "maniskill/StackCube/images/episode_392/frame_0084.jpg", + "maniskill/StackCube/images/episode_392/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.444, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.370, 0.598]). The trajectory involves 61 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_392", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 46, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_392.json" + } + }, + { + "id": "maniskill_StackCube_out_671", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_671/frame_0041.jpg", + "maniskill/StackCube/images/episode_671/frame_0080.jpg", + "maniskill/StackCube/images/episode_671/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.449, 0.575]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.336, 0.535]). The trajectory involves 49 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_671", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 39, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_671.json" + } + }, + { + "id": "maniskill_StackCube_out_407", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_407/frame_0046.jpg", + "maniskill/StackCube/images/episode_407/frame_0084.jpg", + "maniskill/StackCube/images/episode_407/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.340, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.427, 0.487]). The trajectory involves 51 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_407", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 38, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_407.json" + } + }, + { + "id": "maniskill_StackCube_out_558", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_558/frame_0034.jpg", + "maniskill/StackCube/images/episode_558/frame_0076.jpg", + "maniskill/StackCube/images/episode_558/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.329, 0.475]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.471, 0.540]). The trajectory involves 55 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_558", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 42, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_558.json" + } + }, + { + "id": "maniskill_StackCube_out_631", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_631/frame_0043.jpg", + "maniskill/StackCube/images/episode_631/frame_0082.jpg", + "maniskill/StackCube/images/episode_631/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.488, 0.529]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.365, 0.437]). The trajectory involves 50 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_631", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_631.json" + } + }, + { + "id": "maniskill_StackCube_out_243", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_243/frame_0047.jpg", + "maniskill/StackCube/images/episode_243/frame_0086.jpg", + "maniskill/StackCube/images/episode_243/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.434, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.312, 0.490]). The trajectory involves 54 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_243", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 39, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_243.json" + } + }, + { + "id": "maniskill_StackCube_out_469", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_469/frame_0045.jpg", + "maniskill/StackCube/images/episode_469/frame_0087.jpg", + "maniskill/StackCube/images/episode_469/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.472, 0.713]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.367, 0.479]). The trajectory involves 63 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_469", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 42, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_469.json" + } + }, + { + "id": "maniskill_StackCube_out_14", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_14/frame_0050.jpg", + "maniskill/StackCube/images/episode_14/frame_0098.jpg", + "maniskill/StackCube/images/episode_14/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.442, 0.481]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.538, 0.637]). The trajectory involves 63 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_14", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 48, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_14.json" + } + }, + { + "id": "maniskill_StackCube_out_685", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_685/frame_0036.jpg", + "maniskill/StackCube/images/episode_685/frame_0076.jpg", + "maniskill/StackCube/images/episode_685/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.252, 0.495]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.282, 0.484]). The trajectory involves 47 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_685", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 40, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_685.json" + } + }, + { + "id": "maniskill_StackCube_out_878", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_878/frame_0045.jpg", + "maniskill/StackCube/images/episode_878/frame_0063.jpg", + "maniskill/StackCube/images/episode_878/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.380, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.429, 0.462]). The trajectory involves 53 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_878", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_878.json" + } + }, + { + "id": "maniskill_StackCube_out_463", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_463/frame_0043.jpg", + "maniskill/StackCube/images/episode_463/frame_0061.jpg", + "maniskill/StackCube/images/episode_463/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.419, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.326, 0.469]). The trajectory involves 53 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_463", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_463.json" + } + }, + { + "id": "maniskill_StackCube_out_568", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_568/frame_0041.jpg", + "maniskill/StackCube/images/episode_568/frame_0059.jpg", + "maniskill/StackCube/images/episode_568/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.475, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.486]). The trajectory involves 55 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_568", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_568.json" + } + }, + { + "id": "maniskill_StackCube_out_198", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_198/frame_0047.jpg", + "maniskill/StackCube/images/episode_198/frame_0093.jpg", + "maniskill/StackCube/images/episode_198/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.365, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.192, 0.489]). The trajectory involves 61 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_198", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 46, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_198.json" + } + }, + { + "id": "maniskill_StackCube_out_770", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_770/frame_0034.jpg", + "maniskill/StackCube/images/episode_770/frame_0080.jpg", + "maniskill/StackCube/images/episode_770/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.380, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.610, 0.564]). The trajectory involves 67 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_770", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 46, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_770.json" + } + }, + { + "id": "maniskill_StackCube_out_513", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_513/frame_0035.jpg", + "maniskill/StackCube/images/episode_513/frame_0053.jpg", + "maniskill/StackCube/images/episode_513/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.410, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.414]). The trajectory involves 66 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_513", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 18, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_513.json" + } + }, + { + "id": "maniskill_StackCube_out_177", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_177/frame_0044.jpg", + "maniskill/StackCube/images/episode_177/frame_0090.jpg", + "maniskill/StackCube/images/episode_177/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.304, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.441, 0.498]). The trajectory involves 62 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_177", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 46, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_177.json" + } + }, + { + "id": "maniskill_StackCube_out_650", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_650/frame_0037.jpg", + "maniskill/StackCube/images/episode_650/frame_0080.jpg", + "maniskill/StackCube/images/episode_650/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.278, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.449, 0.504]). The trajectory involves 56 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_650", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 43, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_650.json" + } + }, + { + "id": "maniskill_StackCube_out_412", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_412/frame_0045.jpg", + "maniskill/StackCube/images/episode_412/frame_0063.jpg", + "maniskill/StackCube/images/episode_412/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.423, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.332, 0.498]). The trajectory involves 60 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_412", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_412.json" + } + }, + { + "id": "maniskill_StackCube_out_192", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_192/frame_0052.jpg", + "maniskill/StackCube/images/episode_192/frame_0092.jpg", + "maniskill/StackCube/images/episode_192/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.572, 0.612]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.480]). The trajectory involves 58 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_192", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 40, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_192.json" + } + }, + { + "id": "maniskill_StackCube_out_684", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_684/frame_0046.jpg", + "maniskill/StackCube/images/episode_684/frame_0087.jpg", + "maniskill/StackCube/images/episode_684/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.472, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.305, 0.423]). The trajectory involves 62 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_684", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 41, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_684.json" + } + }, + { + "id": "maniskill_StackCube_out_358", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_358/frame_0041.jpg", + "maniskill/StackCube/images/episode_358/frame_0081.jpg", + "maniskill/StackCube/images/episode_358/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.512, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.331, 0.420]). The trajectory involves 58 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_358", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 40, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_358.json" + } + }, + { + "id": "maniskill_StackCube_out_396", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_396/frame_0054.jpg", + "maniskill/StackCube/images/episode_396/frame_0072.jpg", + "maniskill/StackCube/images/episode_396/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.555, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.477]). The trajectory involves 51 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_396", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_396.json" + } + }, + { + "id": "maniskill_StackCube_out_845", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_845/frame_0037.jpg", + "maniskill/StackCube/images/episode_845/frame_0077.jpg", + "maniskill/StackCube/images/episode_845/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.307, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.351, 0.548]). The trajectory involves 53 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_845", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 40, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_845.json" + } + }, + { + "id": "maniskill_StackCube_out_105", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_105/frame_0052.jpg", + "maniskill/StackCube/images/episode_105/frame_0070.jpg", + "maniskill/StackCube/images/episode_105/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.418, 0.548]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.347, 0.472]). The trajectory involves 47 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_105", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 18, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_105.json" + } + }, + { + "id": "maniskill_StackCube_out_40", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_40/frame_0048.jpg", + "maniskill/StackCube/images/episode_40/frame_0092.jpg", + "maniskill/StackCube/images/episode_40/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.521, 0.587]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.322, 0.516]). The trajectory involves 59 precise waypoints with total movement distance of 0.303." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_40", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 44, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_40.json" + } + }, + { + "id": "maniskill_StackCube_out_331", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_331/frame_0037.jpg", + "maniskill/StackCube/images/episode_331/frame_0055.jpg", + "maniskill/StackCube/images/episode_331/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.459, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.410]). The trajectory involves 66 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_331", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 18, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_331.json" + } + }, + { + "id": "maniskill_StackCube_out_712", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_712/frame_0042.jpg", + "maniskill/StackCube/images/episode_712/frame_0083.jpg", + "maniskill/StackCube/images/episode_712/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.402, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.288, 0.529]). The trajectory involves 52 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_712", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_712.json" + } + }, + { + "id": "maniskill_StackCube_out_423", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_423/frame_0050.jpg", + "maniskill/StackCube/images/episode_423/frame_0090.jpg", + "maniskill/StackCube/images/episode_423/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.357, 0.570]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.433, 0.575]). The trajectory involves 48 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_423", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 40, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_423.json" + } + }, + { + "id": "maniskill_StackCube_out_717", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_717/frame_0052.jpg", + "maniskill/StackCube/images/episode_717/frame_0104.jpg", + "maniskill/StackCube/images/episode_717/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.357, 0.639]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.204, 0.493]). The trajectory involves 68 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_717", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 52, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_717.json" + } + }, + { + "id": "maniskill_StackCube_out_619", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_619/frame_0036.jpg", + "maniskill/StackCube/images/episode_619/frame_0079.jpg", + "maniskill/StackCube/images/episode_619/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.454, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.233, 0.476]). The trajectory involves 65 precise waypoints with total movement distance of 0.319." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_619", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 43, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_619.json" + } + }, + { + "id": "maniskill_StackCube_out_655", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_655/frame_0039.jpg", + "maniskill/StackCube/images/episode_655/frame_0058.jpg", + "maniskill/StackCube/images/episode_655/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.334, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.409, 0.495]). The trajectory involves 55 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_655", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 19, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_655.json" + } + }, + { + "id": "maniskill_StackCube_out_83", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_83/frame_0046.jpg", + "maniskill/StackCube/images/episode_83/frame_0064.jpg", + "maniskill/StackCube/images/episode_83/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.456, 0.481]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.335, 0.474]). The trajectory involves 61 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_83", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 18, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_83.json" + } + }, + { + "id": "maniskill_StackCube_out_242", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_242/frame_0049.jpg", + "maniskill/StackCube/images/episode_242/frame_0094.jpg", + "maniskill/StackCube/images/episode_242/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.445, 0.673]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.258, 0.464]). The trajectory involves 67 precise waypoints with total movement distance of 0.319." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_242", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 45, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_242.json" + } + }, + { + "id": "maniskill_StackCube_out_542", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_542/frame_0052.jpg", + "maniskill/StackCube/images/episode_542/frame_0096.jpg", + "maniskill/StackCube/images/episode_542/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.420, 0.571]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.250, 0.442]). The trajectory involves 60 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_542", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 44, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_542.json" + } + }, + { + "id": "maniskill_StackCube_out_164", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_164/frame_0037.jpg", + "maniskill/StackCube/images/episode_164/frame_0056.jpg", + "maniskill/StackCube/images/episode_164/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.389, 0.549]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.512, 0.498]). The trajectory involves 61 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_164", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 19, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_164.json" + } + }, + { + "id": "maniskill_StackCube_out_450", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_450/frame_0056.jpg", + "maniskill/StackCube/images/episode_450/frame_0074.jpg", + "maniskill/StackCube/images/episode_450/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.306, 0.480]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.247, 0.426]). The trajectory involves 46 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_450", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_450.json" + } + }, + { + "id": "maniskill_StackCube_out_663", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_663/frame_0039.jpg", + "maniskill/StackCube/images/episode_663/frame_0080.jpg", + "maniskill/StackCube/images/episode_663/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.298, 0.526]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.296, 0.548]). The trajectory involves 50 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_663", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 41, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_663.json" + } + }, + { + "id": "maniskill_StackCube_out_374", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_374/frame_0055.jpg", + "maniskill/StackCube/images/episode_374/frame_0100.jpg", + "maniskill/StackCube/images/episode_374/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.279, 0.473]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.485, 0.534]). The trajectory involves 59 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_374", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_374.json" + } + }, + { + "id": "maniskill_StackCube_out_159", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_159/frame_0042.jpg", + "maniskill/StackCube/images/episode_159/frame_0060.jpg", + "maniskill/StackCube/images/episode_159/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.380, 0.521]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.326, 0.493]). The trajectory involves 44 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_159", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_159.json" + } + }, + { + "id": "maniskill_StackCube_out_271", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_271/frame_0051.jpg", + "maniskill/StackCube/images/episode_271/frame_0092.jpg", + "maniskill/StackCube/images/episode_271/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.486, 0.614]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.464]). The trajectory involves 55 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_271", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 41, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_271.json" + } + }, + { + "id": "maniskill_StackCube_out_728", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_728/frame_0037.jpg", + "maniskill/StackCube/images/episode_728/frame_0084.jpg", + "maniskill/StackCube/images/episode_728/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.265, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.358, 0.580]). The trajectory involves 65 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_728", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 47, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_728.json" + } + }, + { + "id": "maniskill_StackCube_out_38", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_38/frame_0058.jpg", + "maniskill/StackCube/images/episode_38/frame_0103.jpg", + "maniskill/StackCube/images/episode_38/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.372, 0.628]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.208, 0.524]). The trajectory involves 61 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_38", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 45, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_38.json" + } + }, + { + "id": "maniskill_StackCube_out_316", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_316/frame_0039.jpg", + "maniskill/StackCube/images/episode_316/frame_0083.jpg", + "maniskill/StackCube/images/episode_316/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.225, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.306, 0.497]). The trajectory involves 54 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_316", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 44, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_316.json" + } + }, + { + "id": "maniskill_StackCube_out_64", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_64/frame_0035.jpg", + "maniskill/StackCube/images/episode_64/frame_0053.jpg", + "maniskill/StackCube/images/episode_64/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.484, 0.568]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.497, 0.480]). The trajectory involves 54 precise waypoints with total movement distance of 0.094." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_64", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_64.json" + } + }, + { + "id": "maniskill_StackCube_out_206", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_206/frame_0058.jpg", + "maniskill/StackCube/images/episode_206/frame_0103.jpg", + "maniskill/StackCube/images/episode_206/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.467, 0.672]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.397, 0.499]). The trajectory involves 59 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_206", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_206.json" + } + }, + { + "id": "maniskill_StackCube_out_30", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_30/frame_0047.jpg", + "maniskill/StackCube/images/episode_30/frame_0066.jpg", + "maniskill/StackCube/images/episode_30/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.360, 0.571]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.403, 0.507]). The trajectory involves 54 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_30", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 19, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_30.json" + } + }, + { + "id": "maniskill_StackCube_out_273", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_273/frame_0036.jpg", + "maniskill/StackCube/images/episode_273/frame_0077.jpg", + "maniskill/StackCube/images/episode_273/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.382, 0.482]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.523, 0.475]). The trajectory involves 56 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_273", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 41, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_273.json" + } + }, + { + "id": "maniskill_StackCube_out_881", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_881/frame_0036.jpg", + "maniskill/StackCube/images/episode_881/frame_0054.jpg", + "maniskill/StackCube/images/episode_881/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.445, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.417, 0.442]). The trajectory involves 59 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_881", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_881.json" + } + }, + { + "id": "maniskill_StackCube_out_784", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_784/frame_0051.jpg", + "maniskill/StackCube/images/episode_784/frame_0092.jpg", + "maniskill/StackCube/images/episode_784/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.276, 0.440]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.348, 0.465]). The trajectory involves 52 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_784", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_784.json" + } + }, + { + "id": "maniskill_StackCube_out_522", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_522/frame_0044.jpg", + "maniskill/StackCube/images/episode_522/frame_0092.jpg", + "maniskill/StackCube/images/episode_522/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.288, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.448, 0.511]). The trajectory involves 65 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_522", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 48, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_522.json" + } + }, + { + "id": "maniskill_StackCube_out_907", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_907/frame_0056.jpg", + "maniskill/StackCube/images/episode_907/frame_0095.jpg", + "maniskill/StackCube/images/episode_907/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.417, 0.545]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.507, 0.637]). The trajectory involves 49 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_907", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 39, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_907.json" + } + }, + { + "id": "maniskill_StackCube_out_722", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_722/frame_0032.jpg", + "maniskill/StackCube/images/episode_722/frame_0077.jpg", + "maniskill/StackCube/images/episode_722/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.302, 0.475]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.311, 0.568]). The trajectory involves 59 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_722", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_722.json" + } + }, + { + "id": "maniskill_StackCube_out_574", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_574/frame_0045.jpg", + "maniskill/StackCube/images/episode_574/frame_0090.jpg", + "maniskill/StackCube/images/episode_574/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.341, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.572]). The trajectory involves 62 precise waypoints with total movement distance of 0.303." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_574", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 45, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_574.json" + } + }, + { + "id": "maniskill_StackCube_out_548", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_548/frame_0048.jpg", + "maniskill/StackCube/images/episode_548/frame_0066.jpg", + "maniskill/StackCube/images/episode_548/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.301, 0.476]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.233, 0.489]). The trajectory involves 58 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_548", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_548.json" + } + }, + { + "id": "maniskill_StackCube_out_216", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_216/frame_0038.jpg", + "maniskill/StackCube/images/episode_216/frame_0056.jpg", + "maniskill/StackCube/images/episode_216/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.406, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.450]). The trajectory involves 56 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_216", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_216.json" + } + }, + { + "id": "maniskill_StackCube_out_798", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_798/frame_0035.jpg", + "maniskill/StackCube/images/episode_798/frame_0053.jpg", + "maniskill/StackCube/images/episode_798/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.338, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.400, 0.414]). The trajectory involves 63 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_798", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 18, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_798.json" + } + }, + { + "id": "maniskill_StackCube_out_158", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_158/frame_0033.jpg", + "maniskill/StackCube/images/episode_158/frame_0072.jpg", + "maniskill/StackCube/images/episode_158/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.553, 0.659]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.450, 0.501]). The trajectory involves 50 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_158", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_158.json" + } + }, + { + "id": "maniskill_StackCube_out_661", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_661/frame_0038.jpg", + "maniskill/StackCube/images/episode_661/frame_0090.jpg", + "maniskill/StackCube/images/episode_661/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.285, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.518, 0.614]). The trajectory involves 67 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_661", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 52, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_661.json" + } + }, + { + "id": "maniskill_StackCube_out_736", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_736/frame_0055.jpg", + "maniskill/StackCube/images/episode_736/frame_0098.jpg", + "maniskill/StackCube/images/episode_736/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.400, 0.451]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.471, 0.490]). The trajectory involves 54 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_736", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 43, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_736.json" + } + }, + { + "id": "maniskill_StackCube_out_575", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_575/frame_0055.jpg", + "maniskill/StackCube/images/episode_575/frame_0103.jpg", + "maniskill/StackCube/images/episode_575/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.392, 0.437]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.514, 0.500]). The trajectory involves 58 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_575", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 48, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_575.json" + } + }, + { + "id": "maniskill_StackCube_out_276", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_276/frame_0053.jpg", + "maniskill/StackCube/images/episode_276/frame_0096.jpg", + "maniskill/StackCube/images/episode_276/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.418, 0.595]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.314, 0.540]). The trajectory involves 54 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_276", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 43, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_276.json" + } + }, + { + "id": "maniskill_StackCube_out_145", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_145/frame_0044.jpg", + "maniskill/StackCube/images/episode_145/frame_0062.jpg", + "maniskill/StackCube/images/episode_145/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.529, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.540]). The trajectory involves 54 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_145", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_145.json" + } + }, + { + "id": "maniskill_StackCube_out_297", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_297/frame_0046.jpg", + "maniskill/StackCube/images/episode_297/frame_0064.jpg", + "maniskill/StackCube/images/episode_297/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.382, 0.499]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.326, 0.430]). The trajectory involves 46 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_297", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_297.json" + } + }, + { + "id": "maniskill_StackCube_out_193", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_193/frame_0048.jpg", + "maniskill/StackCube/images/episode_193/frame_0096.jpg", + "maniskill/StackCube/images/episode_193/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.321, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.539, 0.595]). The trajectory involves 63 precise waypoints with total movement distance of 0.351." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_193", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 48, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_193.json" + } + }, + { + "id": "maniskill_StackCube_out_521", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_521/frame_0042.jpg", + "maniskill/StackCube/images/episode_521/frame_0081.jpg", + "maniskill/StackCube/images/episode_521/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.368, 0.476]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.476, 0.471]). The trajectory involves 55 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_521", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 39, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_521.json" + } + }, + { + "id": "maniskill_StackCube_out_545", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_545/frame_0044.jpg", + "maniskill/StackCube/images/episode_545/frame_0064.jpg", + "maniskill/StackCube/images/episode_545/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.391, 0.612]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.335, 0.538]). The trajectory involves 52 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_545", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 20, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_545.json" + } + }, + { + "id": "maniskill_StackCube_out_84", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_84/frame_0036.jpg", + "maniskill/StackCube/images/episode_84/frame_0054.jpg", + "maniskill/StackCube/images/episode_84/frame_0079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.480, 0.551]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.437, 0.487]). The trajectory involves 44 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_84", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_84.json" + } + }, + { + "id": "maniskill_StackCube_out_807", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_807/frame_0042.jpg", + "maniskill/StackCube/images/episode_807/frame_0082.jpg", + "maniskill/StackCube/images/episode_807/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.469, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.306, 0.414]). The trajectory involves 55 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_807", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 40, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_807.json" + } + }, + { + "id": "maniskill_StackCube_out_892", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_892/frame_0037.jpg", + "maniskill/StackCube/images/episode_892/frame_0078.jpg", + "maniskill/StackCube/images/episode_892/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.461, 0.561]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.327, 0.439]). The trajectory involves 57 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_892", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 41, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_892.json" + } + }, + { + "id": "maniskill_StackCube_out_39", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_39/frame_0039.jpg", + "maniskill/StackCube/images/episode_39/frame_0085.jpg", + "maniskill/StackCube/images/episode_39/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.278, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.385, 0.451]). The trajectory involves 66 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_39", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 46, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_39.json" + } + }, + { + "id": "maniskill_StackCube_out_471", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_471/frame_0036.jpg", + "maniskill/StackCube/images/episode_471/frame_0073.jpg", + "maniskill/StackCube/images/episode_471/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.520, 0.582]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.431, 0.458]). The trajectory involves 48 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_471", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 37, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_471.json" + } + }, + { + "id": "maniskill_StackCube_out_257", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_257/frame_0036.jpg", + "maniskill/StackCube/images/episode_257/frame_0078.jpg", + "maniskill/StackCube/images/episode_257/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.493, 0.613]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.329, 0.454]). The trajectory involves 57 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_257", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 42, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_257.json" + } + }, + { + "id": "maniskill_StackCube_out_55", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_55/frame_0045.jpg", + "maniskill/StackCube/images/episode_55/frame_0080.jpg", + "maniskill/StackCube/images/episode_55/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.334, 0.444]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.381, 0.430]). The trajectory involves 43 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_55", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 35, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_55.json" + } + }, + { + "id": "maniskill_StackCube_out_453", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_453/frame_0054.jpg", + "maniskill/StackCube/images/episode_453/frame_0099.jpg", + "maniskill/StackCube/images/episode_453/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.429, 0.447]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.496, 0.478]). The trajectory involves 56 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_453", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 45, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_453.json" + } + }, + { + "id": "maniskill_StackCube_out_180", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_180/frame_0046.jpg", + "maniskill/StackCube/images/episode_180/frame_0086.jpg", + "maniskill/StackCube/images/episode_180/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.571, 0.579]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.449]). The trajectory involves 57 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_180", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 40, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_180.json" + } + }, + { + "id": "maniskill_StackCube_out_680", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_680/frame_0049.jpg", + "maniskill/StackCube/images/episode_680/frame_0090.jpg", + "maniskill/StackCube/images/episode_680/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.323, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.339, 0.529]). The trajectory involves 53 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_680", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 41, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_680.json" + } + }, + { + "id": "maniskill_StackCube_out_176", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_176/frame_0062.jpg", + "maniskill/StackCube/images/episode_176/frame_0082.jpg", + "maniskill/StackCube/images/episode_176/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.296, 0.552]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.387, 0.475]). The trajectory involves 64 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_176", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 20, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_176.json" + } + }, + { + "id": "maniskill_StackCube_out_945", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_945/frame_0047.jpg", + "maniskill/StackCube/images/episode_945/frame_0065.jpg", + "maniskill/StackCube/images/episode_945/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.365, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.339, 0.449]). The trajectory involves 48 precise waypoints with total movement distance of 0.103." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_945", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_945.json" + } + }, + { + "id": "maniskill_StackCube_out_314", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_314/frame_0065.jpg", + "maniskill/StackCube/images/episode_314/frame_0084.jpg", + "maniskill/StackCube/images/episode_314/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.575, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.482, 0.459]). The trajectory involves 57 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_314", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 19, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_314.json" + } + }, + { + "id": "maniskill_StackCube_out_737", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_737/frame_0059.jpg", + "maniskill/StackCube/images/episode_737/frame_0077.jpg", + "maniskill/StackCube/images/episode_737/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.262, 0.452]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.234, 0.445]). The trajectory involves 50 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_737", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 18, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_737.json" + } + }, + { + "id": "maniskill_StackCube_out_998", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_998/frame_0038.jpg", + "maniskill/StackCube/images/episode_998/frame_0082.jpg", + "maniskill/StackCube/images/episode_998/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.353, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.284, 0.512]). The trajectory involves 53 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_998", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 44, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_998.json" + } + }, + { + "id": "maniskill_StackCube_out_0", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_0/frame_0045.jpg", + "maniskill/StackCube/images/episode_0/frame_0064.jpg", + "maniskill/StackCube/images/episode_0/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.420, 0.599]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.322, 0.474]). The trajectory involves 57 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_0", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 19, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_0.json" + } + }, + { + "id": "maniskill_StackCube_out_329", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_329/frame_0038.jpg", + "maniskill/StackCube/images/episode_329/frame_0078.jpg", + "maniskill/StackCube/images/episode_329/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.516, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.398, 0.503]). The trajectory involves 51 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_329", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_329.json" + } + }, + { + "id": "maniskill_StackCube_out_417", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_417/frame_0046.jpg", + "maniskill/StackCube/images/episode_417/frame_0065.jpg", + "maniskill/StackCube/images/episode_417/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.358, 0.577]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.278, 0.495]). The trajectory involves 50 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_417", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 19, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_417.json" + } + }, + { + "id": "maniskill_StackCube_out_882", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_882/frame_0050.jpg", + "maniskill/StackCube/images/episode_882/frame_0068.jpg", + "maniskill/StackCube/images/episode_882/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.376, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.323, 0.443]). The trajectory involves 57 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_882", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_882.json" + } + }, + { + "id": "maniskill_StackCube_out_408", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_408/frame_0036.jpg", + "maniskill/StackCube/images/episode_408/frame_0073.jpg", + "maniskill/StackCube/images/episode_408/frame_0081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.335, 0.474]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.420, 0.485]). The trajectory involves 46 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_408", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 37, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_408.json" + } + }, + { + "id": "maniskill_StackCube_out_389", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_389/frame_0042.jpg", + "maniskill/StackCube/images/episode_389/frame_0079.jpg", + "maniskill/StackCube/images/episode_389/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.364, 0.497]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.409, 0.513]). The trajectory involves 48 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_389", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 37, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_389.json" + } + }, + { + "id": "maniskill_StackCube_out_201", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_201/frame_0046.jpg", + "maniskill/StackCube/images/episode_201/frame_0065.jpg", + "maniskill/StackCube/images/episode_201/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.398, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.488, 0.524]). The trajectory involves 61 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_201", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 19, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_201.json" + } + }, + { + "id": "maniskill_StackCube_out_826", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_826/frame_0041.jpg", + "maniskill/StackCube/images/episode_826/frame_0060.jpg", + "maniskill/StackCube/images/episode_826/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.370, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.409, 0.469]). The trajectory involves 52 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_826", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 19, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_826.json" + } + }, + { + "id": "maniskill_StackCube_out_877", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_877/frame_0046.jpg", + "maniskill/StackCube/images/episode_877/frame_0089.jpg", + "maniskill/StackCube/images/episode_877/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.404, 0.454]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.491]). The trajectory involves 55 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_877", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 43, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_877.json" + } + }, + { + "id": "maniskill_StackCube_out_817", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_817/frame_0056.jpg", + "maniskill/StackCube/images/episode_817/frame_0106.jpg", + "maniskill/StackCube/images/episode_817/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.369, 0.622]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.237, 0.464]). The trajectory involves 66 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_817", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 50, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_817.json" + } + }, + { + "id": "maniskill_StackCube_out_185", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_185/frame_0050.jpg", + "maniskill/StackCube/images/episode_185/frame_0068.jpg", + "maniskill/StackCube/images/episode_185/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.464, 0.515]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.450]). The trajectory involves 42 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_185", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 18, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_185.json" + } + }, + { + "id": "maniskill_StackCube_out_879", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_879/frame_0038.jpg", + "maniskill/StackCube/images/episode_879/frame_0081.jpg", + "maniskill/StackCube/images/episode_879/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.419, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.311, 0.495]). The trajectory involves 56 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_879", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 43, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_879.json" + } + }, + { + "id": "maniskill_StackCube_out_191", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_191/frame_0052.jpg", + "maniskill/StackCube/images/episode_191/frame_0094.jpg", + "maniskill/StackCube/images/episode_191/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.528, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.403, 0.462]). The trajectory involves 53 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_191", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 42, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_191.json" + } + }, + { + "id": "maniskill_StackCube_out_659", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_659/frame_0033.jpg", + "maniskill/StackCube/images/episode_659/frame_0051.jpg", + "maniskill/StackCube/images/episode_659/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.529, 0.622]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.470]). The trajectory involves 52 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_659", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_659.json" + } + }, + { + "id": "maniskill_StackCube_out_93", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_93/frame_0050.jpg", + "maniskill/StackCube/images/episode_93/frame_0102.jpg", + "maniskill/StackCube/images/episode_93/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.337, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.593, 0.648]). The trajectory involves 71 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_93", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 52, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_93.json" + } + }, + { + "id": "maniskill_StackCube_out_220", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_220/frame_0052.jpg", + "maniskill/StackCube/images/episode_220/frame_0072.jpg", + "maniskill/StackCube/images/episode_220/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.359, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.256, 0.477]). The trajectory involves 58 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_220", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 20, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_220.json" + } + }, + { + "id": "maniskill_StackCube_out_270", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_270/frame_0039.jpg", + "maniskill/StackCube/images/episode_270/frame_0076.jpg", + "maniskill/StackCube/images/episode_270/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.344, 0.498]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.398, 0.498]). The trajectory involves 44 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_270", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 37, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_270.json" + } + }, + { + "id": "maniskill_StackCube_out_479", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_479/frame_0049.jpg", + "maniskill/StackCube/images/episode_479/frame_0067.jpg", + "maniskill/StackCube/images/episode_479/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.432, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.396, 0.423]). The trajectory involves 63 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_479", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 18, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_479.json" + } + }, + { + "id": "maniskill_StackCube_out_24", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_24/frame_0039.jpg", + "maniskill/StackCube/images/episode_24/frame_0057.jpg", + "maniskill/StackCube/images/episode_24/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.393, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.465]). The trajectory involves 69 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_24", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 18, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_24.json" + } + }, + { + "id": "maniskill_StackCube_out_121", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_121/frame_0037.jpg", + "maniskill/StackCube/images/episode_121/frame_0075.jpg", + "maniskill/StackCube/images/episode_121/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.391, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.447, 0.566]). The trajectory involves 48 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_121", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 38, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_121.json" + } + }, + { + "id": "maniskill_StackCube_out_279", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_279/frame_0033.jpg", + "maniskill/StackCube/images/episode_279/frame_0074.jpg", + "maniskill/StackCube/images/episode_279/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.369, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.482, 0.554]). The trajectory involves 52 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_279", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_279.json" + } + }, + { + "id": "maniskill_StackCube_out_323", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_323/frame_0064.jpg", + "maniskill/StackCube/images/episode_323/frame_0112.jpg", + "maniskill/StackCube/images/episode_323/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.514, 0.686]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.358, 0.629]). The trajectory involves 64 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_323", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 48, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_323.json" + } + }, + { + "id": "maniskill_StackCube_out_31", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_31/frame_0044.jpg", + "maniskill/StackCube/images/episode_31/frame_0083.jpg", + "maniskill/StackCube/images/episode_31/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.388, 0.476]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.405, 0.488]). The trajectory involves 47 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_31", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 39, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_31.json" + } + }, + { + "id": "maniskill_StackCube_out_672", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_672/frame_0047.jpg", + "maniskill/StackCube/images/episode_672/frame_0065.jpg", + "maniskill/StackCube/images/episode_672/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.439, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.446]). The trajectory involves 56 precise waypoints with total movement distance of 0.101." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_672", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_672.json" + } + }, + { + "id": "maniskill_StackCube_out_113", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_113/frame_0062.jpg", + "maniskill/StackCube/images/episode_113/frame_0082.jpg", + "maniskill/StackCube/images/episode_113/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.273, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.302, 0.461]). The trajectory involves 56 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_113", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 20, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_113.json" + } + }, + { + "id": "maniskill_StackCube_out_592", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_592/frame_0055.jpg", + "maniskill/StackCube/images/episode_592/frame_0109.jpg", + "maniskill/StackCube/images/episode_592/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.583, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.322, 0.483]). The trajectory involves 72 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_592", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 54, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_592.json" + } + }, + { + "id": "maniskill_StackCube_out_60", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_60/frame_0042.jpg", + "maniskill/StackCube/images/episode_60/frame_0061.jpg", + "maniskill/StackCube/images/episode_60/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.282, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.271, 0.459]). The trajectory involves 52 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_60", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 19, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_60.json" + } + }, + { + "id": "maniskill_StackCube_out_734", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_734/frame_0035.jpg", + "maniskill/StackCube/images/episode_734/frame_0073.jpg", + "maniskill/StackCube/images/episode_734/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.336, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.240, 0.477]). The trajectory involves 50 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_734", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 38, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_734.json" + } + }, + { + "id": "maniskill_StackCube_out_706", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_706/frame_0039.jpg", + "maniskill/StackCube/images/episode_706/frame_0057.jpg", + "maniskill/StackCube/images/episode_706/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.415, 0.482]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.374, 0.400]). The trajectory involves 58 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_706", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_706.json" + } + }, + { + "id": "maniskill_StackCube_out_228", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_228/frame_0038.jpg", + "maniskill/StackCube/images/episode_228/frame_0077.jpg", + "maniskill/StackCube/images/episode_228/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.518, 0.587]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.425]). The trajectory involves 57 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_228", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 39, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_228.json" + } + }, + { + "id": "maniskill_StackCube_out_653", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_653/frame_0056.jpg", + "maniskill/StackCube/images/episode_653/frame_0100.jpg", + "maniskill/StackCube/images/episode_653/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.478, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.272, 0.518]). The trajectory involves 64 precise waypoints with total movement distance of 0.306." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_653", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 44, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_653.json" + } + }, + { + "id": "maniskill_StackCube_out_20", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_20/frame_0042.jpg", + "maniskill/StackCube/images/episode_20/frame_0086.jpg", + "maniskill/StackCube/images/episode_20/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.506, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.356, 0.490]). The trajectory involves 57 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_20", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 44, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_20.json" + } + }, + { + "id": "maniskill_StackCube_out_154", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_154/frame_0036.jpg", + "maniskill/StackCube/images/episode_154/frame_0054.jpg", + "maniskill/StackCube/images/episode_154/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.363, 0.470]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.360, 0.395]). The trajectory involves 60 precise waypoints with total movement distance of 0.079." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_154", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_154.json" + } + }, + { + "id": "maniskill_StackCube_out_342", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_342/frame_0048.jpg", + "maniskill/StackCube/images/episode_342/frame_0066.jpg", + "maniskill/StackCube/images/episode_342/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.527, 0.598]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.488, 0.477]). The trajectory involves 52 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_342", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_342.json" + } + }, + { + "id": "maniskill_StackCube_out_896", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_896/frame_0037.jpg", + "maniskill/StackCube/images/episode_896/frame_0055.jpg", + "maniskill/StackCube/images/episode_896/frame_0080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.398, 0.491]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.349, 0.441]). The trajectory involves 44 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_896", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_896.json" + } + }, + { + "id": "maniskill_StackCube_out_584", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_584/frame_0043.jpg", + "maniskill/StackCube/images/episode_584/frame_0092.jpg", + "maniskill/StackCube/images/episode_584/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.371, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.558, 0.530]). The trajectory involves 72 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_584", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 49, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_584.json" + } + }, + { + "id": "maniskill_StackCube_out_261", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_261/frame_0052.jpg", + "maniskill/StackCube/images/episode_261/frame_0096.jpg", + "maniskill/StackCube/images/episode_261/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.381, 0.622]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.266, 0.492]). The trajectory involves 58 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_261", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 44, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_261.json" + } + }, + { + "id": "maniskill_StackCube_out_368", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_368/frame_0047.jpg", + "maniskill/StackCube/images/episode_368/frame_0090.jpg", + "maniskill/StackCube/images/episode_368/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.303, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.471, 0.472]). The trajectory involves 57 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_368", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 43, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_368.json" + } + }, + { + "id": "maniskill_StackCube_out_990", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_990/frame_0053.jpg", + "maniskill/StackCube/images/episode_990/frame_0072.jpg", + "maniskill/StackCube/images/episode_990/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.352, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.398, 0.472]). The trajectory involves 57 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_990", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 19, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_990.json" + } + }, + { + "id": "maniskill_StackCube_out_205", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_205/frame_0042.jpg", + "maniskill/StackCube/images/episode_205/frame_0089.jpg", + "maniskill/StackCube/images/episode_205/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.295, 0.443]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.479, 0.532]). The trajectory involves 62 precise waypoints with total movement distance of 0.324." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_205", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 47, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_205.json" + } + }, + { + "id": "maniskill_StackCube_out_298", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_298/frame_0059.jpg", + "maniskill/StackCube/images/episode_298/frame_0077.jpg", + "maniskill/StackCube/images/episode_298/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.557, 0.591]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.504, 0.586]). The trajectory involves 52 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_298", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_298.json" + } + }, + { + "id": "maniskill_StackCube_out_844", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_844/frame_0032.jpg", + "maniskill/StackCube/images/episode_844/frame_0050.jpg", + "maniskill/StackCube/images/episode_844/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.395, 0.512]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.369, 0.449]). The trajectory involves 44 precise waypoints with total movement distance of 0.106." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_844", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_844.json" + } + }, + { + "id": "maniskill_StackCube_out_478", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_478/frame_0055.jpg", + "maniskill/StackCube/images/episode_478/frame_0075.jpg", + "maniskill/StackCube/images/episode_478/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.327, 0.611]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.261, 0.490]). The trajectory involves 63 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_478", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 20, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_478.json" + } + }, + { + "id": "maniskill_StackCube_out_287", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_287/frame_0050.jpg", + "maniskill/StackCube/images/episode_287/frame_0095.jpg", + "maniskill/StackCube/images/episode_287/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.336, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.385, 0.617]). The trajectory involves 59 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_287", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_287.json" + } + }, + { + "id": "maniskill_StackCube_out_954", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_954/frame_0054.jpg", + "maniskill/StackCube/images/episode_954/frame_0098.jpg", + "maniskill/StackCube/images/episode_954/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.475, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.316, 0.530]). The trajectory involves 61 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_954", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 44, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_954.json" + } + }, + { + "id": "maniskill_StackCube_out_425", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_425/frame_0037.jpg", + "maniskill/StackCube/images/episode_425/frame_0076.jpg", + "maniskill/StackCube/images/episode_425/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.311, 0.458]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.346, 0.477]). The trajectory involves 48 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_425", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 39, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_425.json" + } + }, + { + "id": "maniskill_StackCube_out_448", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_448/frame_0048.jpg", + "maniskill/StackCube/images/episode_448/frame_0085.jpg", + "maniskill/StackCube/images/episode_448/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.491, 0.534]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.513, 0.546]). The trajectory involves 44 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_448", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 37, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_448.json" + } + }, + { + "id": "maniskill_StackCube_out_418", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_418/frame_0036.jpg", + "maniskill/StackCube/images/episode_418/frame_0077.jpg", + "maniskill/StackCube/images/episode_418/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.493, 0.619]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.345, 0.437]). The trajectory involves 59 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_418", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 41, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_418.json" + } + }, + { + "id": "maniskill_StackCube_out_707", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_707/frame_0058.jpg", + "maniskill/StackCube/images/episode_707/frame_0076.jpg", + "maniskill/StackCube/images/episode_707/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.517, 0.511]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.444]). The trajectory involves 44 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_707", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_707.json" + } + }, + { + "id": "maniskill_StackCube_out_726", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_726/frame_0043.jpg", + "maniskill/StackCube/images/episode_726/frame_0063.jpg", + "maniskill/StackCube/images/episode_726/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.327, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.386, 0.455]). The trajectory involves 62 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_726", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 20, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_726.json" + } + }, + { + "id": "maniskill_StackCube_out_530", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_530/frame_0032.jpg", + "maniskill/StackCube/images/episode_530/frame_0050.jpg", + "maniskill/StackCube/images/episode_530/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.310, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.284, 0.497]). The trajectory involves 51 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_530", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_530.json" + } + }, + { + "id": "maniskill_StackCube_out_755", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_755/frame_0047.jpg", + "maniskill/StackCube/images/episode_755/frame_0066.jpg", + "maniskill/StackCube/images/episode_755/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.381, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.316, 0.450]). The trajectory involves 59 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_755", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 19, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_755.json" + } + }, + { + "id": "maniskill_StackCube_out_488", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_488/frame_0048.jpg", + "maniskill/StackCube/images/episode_488/frame_0085.jpg", + "maniskill/StackCube/images/episode_488/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.411, 0.538]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.479, 0.516]). The trajectory involves 46 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_488", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 37, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_488.json" + } + }, + { + "id": "maniskill_StackCube_out_627", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_627/frame_0043.jpg", + "maniskill/StackCube/images/episode_627/frame_0088.jpg", + "maniskill/StackCube/images/episode_627/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.502, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.555, 0.616]). The trajectory involves 56 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_627", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 45, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_627.json" + } + }, + { + "id": "maniskill_StackCube_out_612", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_612/frame_0044.jpg", + "maniskill/StackCube/images/episode_612/frame_0082.jpg", + "maniskill/StackCube/images/episode_612/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.370, 0.449]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.453, 0.441]). The trajectory involves 52 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_612", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 38, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_612.json" + } + }, + { + "id": "maniskill_StackCube_out_112", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_112/frame_0055.jpg", + "maniskill/StackCube/images/episode_112/frame_0097.jpg", + "maniskill/StackCube/images/episode_112/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.490, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.299, 0.423]). The trajectory involves 59 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_112", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 42, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_112.json" + } + }, + { + "id": "maniskill_StackCube_out_853", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_853/frame_0034.jpg", + "maniskill/StackCube/images/episode_853/frame_0052.jpg", + "maniskill/StackCube/images/episode_853/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.472, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.496, 0.444]). The trajectory involves 67 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_853", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_853.json" + } + }, + { + "id": "maniskill_StackCube_out_795", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_795/frame_0043.jpg", + "maniskill/StackCube/images/episode_795/frame_0088.jpg", + "maniskill/StackCube/images/episode_795/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.329, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.467]). The trajectory involves 63 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_795", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 45, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_795.json" + } + }, + { + "id": "maniskill_StackCube_out_482", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_482/frame_0039.jpg", + "maniskill/StackCube/images/episode_482/frame_0080.jpg", + "maniskill/StackCube/images/episode_482/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.400, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.541, 0.600]). The trajectory involves 52 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_482", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_482.json" + } + }, + { + "id": "maniskill_StackCube_out_74", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_74/frame_0043.jpg", + "maniskill/StackCube/images/episode_74/frame_0061.jpg", + "maniskill/StackCube/images/episode_74/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.432, 0.473]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.396, 0.485]). The trajectory involves 61 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_74", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 18, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_74.json" + } + }, + { + "id": "maniskill_StackCube_out_624", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_624/frame_0043.jpg", + "maniskill/StackCube/images/episode_624/frame_0062.jpg", + "maniskill/StackCube/images/episode_624/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.411, 0.626]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.394, 0.523]). The trajectory involves 50 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_624", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 19, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_624.json" + } + }, + { + "id": "maniskill_StackCube_out_343", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_343/frame_0046.jpg", + "maniskill/StackCube/images/episode_343/frame_0065.jpg", + "maniskill/StackCube/images/episode_343/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.404, 0.617]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.317, 0.467]). The trajectory involves 61 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_343", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 19, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_343.json" + } + }, + { + "id": "maniskill_StackCube_out_639", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_639/frame_0051.jpg", + "maniskill/StackCube/images/episode_639/frame_0069.jpg", + "maniskill/StackCube/images/episode_639/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.457, 0.511]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.467, 0.524]). The trajectory involves 46 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_639", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_639.json" + } + }, + { + "id": "maniskill_StackCube_out_430", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_430/frame_0058.jpg", + "maniskill/StackCube/images/episode_430/frame_0079.jpg", + "maniskill/StackCube/images/episode_430/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.361, 0.634]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.301, 0.525]). The trajectory involves 63 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_430", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 21, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_430.json" + } + }, + { + "id": "maniskill_StackCube_out_73", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_73/frame_0048.jpg", + "maniskill/StackCube/images/episode_73/frame_0093.jpg", + "maniskill/StackCube/images/episode_73/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.431, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.479, 0.523]). The trajectory involves 56 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_73", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 45, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_73.json" + } + }, + { + "id": "maniskill_StackCube_out_993", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_993/frame_0048.jpg", + "maniskill/StackCube/images/episode_993/frame_0085.jpg", + "maniskill/StackCube/images/episode_993/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.460, 0.559]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.371, 0.502]). The trajectory involves 46 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_993", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 37, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_993.json" + } + }, + { + "id": "maniskill_StackCube_out_480", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_480/frame_0045.jpg", + "maniskill/StackCube/images/episode_480/frame_0063.jpg", + "maniskill/StackCube/images/episode_480/frame_0350.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.361, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.387]). The trajectory involves 306 precise waypoints with total movement distance of 0.101." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_480", + "trajectory_length": 306, + "key_frame_indices": [ + 0, + 18, + 305 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_480.json" + } + }, + { + "id": "maniskill_StackCube_out_141", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_141/frame_0046.jpg", + "maniskill/StackCube/images/episode_141/frame_0082.jpg", + "maniskill/StackCube/images/episode_141/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.309, 0.467]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.374, 0.440]). The trajectory involves 45 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_141", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 36, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_141.json" + } + }, + { + "id": "maniskill_StackCube_out_386", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_386/frame_0042.jpg", + "maniskill/StackCube/images/episode_386/frame_0085.jpg", + "maniskill/StackCube/images/episode_386/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.506, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.371, 0.512]). The trajectory involves 57 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_386", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 43, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_386.json" + } + }, + { + "id": "maniskill_StackCube_out_855", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_855/frame_0065.jpg", + "maniskill/StackCube/images/episode_855/frame_0084.jpg", + "maniskill/StackCube/images/episode_855/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.596, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.501, 0.467]). The trajectory involves 57 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_855", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 19, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_855.json" + } + }, + { + "id": "maniskill_StackCube_out_716", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_716/frame_0046.jpg", + "maniskill/StackCube/images/episode_716/frame_0087.jpg", + "maniskill/StackCube/images/episode_716/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.363, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.450, 0.554]). The trajectory involves 51 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_716", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 41, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_716.json" + } + }, + { + "id": "maniskill_StackCube_out_865", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_865/frame_0057.jpg", + "maniskill/StackCube/images/episode_865/frame_0077.jpg", + "maniskill/StackCube/images/episode_865/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.235, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.305, 0.458]). The trajectory involves 58 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_865", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 20, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_865.json" + } + }, + { + "id": "maniskill_StackCube_out_400", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_400/frame_0041.jpg", + "maniskill/StackCube/images/episode_400/frame_0077.jpg", + "maniskill/StackCube/images/episode_400/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.581, 0.602]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.492, 0.511]). The trajectory involves 47 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_400", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 36, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_400.json" + } + }, + { + "id": "maniskill_StackCube_out_955", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_955/frame_0043.jpg", + "maniskill/StackCube/images/episode_955/frame_0061.jpg", + "maniskill/StackCube/images/episode_955/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.538, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.524, 0.476]). The trajectory involves 59 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_955", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_955.json" + } + }, + { + "id": "maniskill_StackCube_out_214", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_214/frame_0057.jpg", + "maniskill/StackCube/images/episode_214/frame_0099.jpg", + "maniskill/StackCube/images/episode_214/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.316, 0.487]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.324, 0.551]). The trajectory involves 54 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_214", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 42, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_214.json" + } + }, + { + "id": "maniskill_StackCube_out_729", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_729/frame_0048.jpg", + "maniskill/StackCube/images/episode_729/frame_0086.jpg", + "maniskill/StackCube/images/episode_729/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.475, 0.513]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.389, 0.435]). The trajectory involves 47 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_729", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 38, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_729.json" + } + }, + { + "id": "maniskill_StackCube_out_790", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_790/frame_0049.jpg", + "maniskill/StackCube/images/episode_790/frame_0068.jpg", + "maniskill/StackCube/images/episode_790/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.378, 0.606]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.299, 0.449]). The trajectory involves 64 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_790", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 19, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_790.json" + } + }, + { + "id": "maniskill_StackCube_out_461", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_461/frame_0042.jpg", + "maniskill/StackCube/images/episode_461/frame_0060.jpg", + "maniskill/StackCube/images/episode_461/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.385, 0.497]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.330, 0.442]). The trajectory involves 43 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_461", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 18, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_461.json" + } + }, + { + "id": "maniskill_StackCube_out_241", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_241/frame_0041.jpg", + "maniskill/StackCube/images/episode_241/frame_0082.jpg", + "maniskill/StackCube/images/episode_241/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.376, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.523, 0.493]). The trajectory involves 59 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_241", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 41, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_241.json" + } + }, + { + "id": "maniskill_StackCube_out_170", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_170/frame_0046.jpg", + "maniskill/StackCube/images/episode_170/frame_0065.jpg", + "maniskill/StackCube/images/episode_170/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.386, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.318, 0.433]). The trajectory involves 63 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_170", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 19, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_170.json" + } + }, + { + "id": "maniskill_StackCube_out_338", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_338/frame_0046.jpg", + "maniskill/StackCube/images/episode_338/frame_0064.jpg", + "maniskill/StackCube/images/episode_338/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.353, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.304, 0.444]). The trajectory involves 51 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_338", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_338.json" + } + }, + { + "id": "maniskill_StackCube_out_620", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_620/frame_0053.jpg", + "maniskill/StackCube/images/episode_620/frame_0094.jpg", + "maniskill/StackCube/images/episode_620/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.398, 0.454]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.541, 0.476]). The trajectory involves 55 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_620", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 41, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_620.json" + } + }, + { + "id": "maniskill_StackCube_out_561", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_561/frame_0052.jpg", + "maniskill/StackCube/images/episode_561/frame_0070.jpg", + "maniskill/StackCube/images/episode_561/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.492, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.365, 0.388]). The trajectory involves 65 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_561", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 18, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_561.json" + } + }, + { + "id": "maniskill_StackCube_out_97", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_97/frame_0037.jpg", + "maniskill/StackCube/images/episode_97/frame_0073.jpg", + "maniskill/StackCube/images/episode_97/frame_0079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.539, 0.665]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.470, 0.595]). The trajectory involves 43 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_97", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_97.json" + } + }, + { + "id": "maniskill_StackCube_out_172", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_172/frame_0052.jpg", + "maniskill/StackCube/images/episode_172/frame_0070.jpg", + "maniskill/StackCube/images/episode_172/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.462, 0.574]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.514, 0.482]). The trajectory involves 59 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_172", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_172.json" + } + }, + { + "id": "maniskill_StackCube_out_375", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_375/frame_0043.jpg", + "maniskill/StackCube/images/episode_375/frame_0061.jpg", + "maniskill/StackCube/images/episode_375/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.434, 0.566]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.522, 0.516]). The trajectory involves 57 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_375", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_375.json" + } + }, + { + "id": "maniskill_StackCube_out_909", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_909/frame_0041.jpg", + "maniskill/StackCube/images/episode_909/frame_0085.jpg", + "maniskill/StackCube/images/episode_909/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.295, 0.439]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.446, 0.496]). The trajectory involves 57 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_909", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 44, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_909.json" + } + }, + { + "id": "maniskill_StackCube_out_747", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_747/frame_0040.jpg", + "maniskill/StackCube/images/episode_747/frame_0076.jpg", + "maniskill/StackCube/images/episode_747/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.322, 0.489]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.358, 0.494]). The trajectory involves 43 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_747", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_747.json" + } + }, + { + "id": "maniskill_StackCube_out_983", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_983/frame_0061.jpg", + "maniskill/StackCube/images/episode_983/frame_0100.jpg", + "maniskill/StackCube/images/episode_983/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.391, 0.587]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.447, 0.605]). The trajectory involves 48 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_983", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 39, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_983.json" + } + }, + { + "id": "maniskill_StackCube_out_42", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_42/frame_0044.jpg", + "maniskill/StackCube/images/episode_42/frame_0089.jpg", + "maniskill/StackCube/images/episode_42/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.499, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.525, 0.630]). The trajectory involves 60 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_42", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 45, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_42.json" + } + }, + { + "id": "maniskill_StackCube_out_856", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_856/frame_0044.jpg", + "maniskill/StackCube/images/episode_856/frame_0062.jpg", + "maniskill/StackCube/images/episode_856/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.494, 0.513]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.440, 0.477]). The trajectory involves 48 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_856", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_856.json" + } + }, + { + "id": "maniskill_StackCube_out_345", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_345/frame_0040.jpg", + "maniskill/StackCube/images/episode_345/frame_0080.jpg", + "maniskill/StackCube/images/episode_345/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.419, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.559, 0.512]). The trajectory involves 52 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_345", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_345.json" + } + }, + { + "id": "maniskill_StackCube_out_959", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_959/frame_0042.jpg", + "maniskill/StackCube/images/episode_959/frame_0080.jpg", + "maniskill/StackCube/images/episode_959/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.339, 0.457]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.434, 0.480]). The trajectory involves 49 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_959", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 38, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_959.json" + } + }, + { + "id": "maniskill_StackCube_out_226", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_226/frame_0044.jpg", + "maniskill/StackCube/images/episode_226/frame_0062.jpg", + "maniskill/StackCube/images/episode_226/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.424, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.525]). The trajectory involves 53 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_226", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_226.json" + } + }, + { + "id": "maniskill_StackCube_out_293", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_293/frame_0043.jpg", + "maniskill/StackCube/images/episode_293/frame_0080.jpg", + "maniskill/StackCube/images/episode_293/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.359, 0.486]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.418, 0.501]). The trajectory involves 47 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_293", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 37, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_293.json" + } + }, + { + "id": "maniskill_StackCube_out_863", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_863/frame_0038.jpg", + "maniskill/StackCube/images/episode_863/frame_0077.jpg", + "maniskill/StackCube/images/episode_863/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.461, 0.560]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.457]). The trajectory involves 50 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_863", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_863.json" + } + }, + { + "id": "maniskill_StackCube_out_46", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_46/frame_0045.jpg", + "maniskill/StackCube/images/episode_46/frame_0094.jpg", + "maniskill/StackCube/images/episode_46/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.324, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.562]). The trajectory involves 68 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_46", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 49, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_46.json" + } + }, + { + "id": "maniskill_StackCube_out_10", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_10/frame_0052.jpg", + "maniskill/StackCube/images/episode_10/frame_0087.jpg", + "maniskill/StackCube/images/episode_10/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.357, 0.526]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.391, 0.529]). The trajectory involves 42 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_10", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 35, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_10.json" + } + }, + { + "id": "maniskill_StackCube_out_352", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_352/frame_0054.jpg", + "maniskill/StackCube/images/episode_352/frame_0103.jpg", + "maniskill/StackCube/images/episode_352/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.477, 0.471]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.539, 0.553]). The trajectory involves 61 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_352", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 49, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_352.json" + } + }, + { + "id": "maniskill_StackCube_out_383", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_383/frame_0057.jpg", + "maniskill/StackCube/images/episode_383/frame_0075.jpg", + "maniskill/StackCube/images/episode_383/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.557, 0.613]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.531, 0.476]). The trajectory involves 58 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_383", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_383.json" + } + }, + { + "id": "maniskill_StackCube_out_447", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_447/frame_0035.jpg", + "maniskill/StackCube/images/episode_447/frame_0071.jpg", + "maniskill/StackCube/images/episode_447/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.311, 0.489]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.343, 0.492]). The trajectory involves 43 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_447", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_447.json" + } + }, + { + "id": "maniskill_StackCube_out_825", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_825/frame_0047.jpg", + "maniskill/StackCube/images/episode_825/frame_0092.jpg", + "maniskill/StackCube/images/episode_825/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.353, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.248, 0.485]). The trajectory involves 56 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_825", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 45, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_825.json" + } + }, + { + "id": "maniskill_StackCube_out_756", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_756/frame_0050.jpg", + "maniskill/StackCube/images/episode_756/frame_0092.jpg", + "maniskill/StackCube/images/episode_756/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.541, 0.581]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.312, 0.441]). The trajectory involves 65 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_756", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 42, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_756.json" + } + }, + { + "id": "maniskill_StackCube_out_354", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_354/frame_0059.jpg", + "maniskill/StackCube/images/episode_354/frame_0079.jpg", + "maniskill/StackCube/images/episode_354/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.234, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.269, 0.453]). The trajectory involves 54 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_354", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 20, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_354.json" + } + }, + { + "id": "maniskill_StackCube_out_985", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_985/frame_0053.jpg", + "maniskill/StackCube/images/episode_985/frame_0096.jpg", + "maniskill/StackCube/images/episode_985/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.430, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.555, 0.540]). The trajectory involves 53 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_985", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 43, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_985.json" + } + }, + { + "id": "maniskill_StackCube_out_692", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_692/frame_0041.jpg", + "maniskill/StackCube/images/episode_692/frame_0060.jpg", + "maniskill/StackCube/images/episode_692/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.376, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.380, 0.429]). The trajectory involves 59 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_692", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 19, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_692.json" + } + }, + { + "id": "maniskill_StackCube_out_493", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_493/frame_0036.jpg", + "maniskill/StackCube/images/episode_493/frame_0054.jpg", + "maniskill/StackCube/images/episode_493/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.471]). The trajectory involves 55 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_493", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_493.json" + } + }, + { + "id": "maniskill_StackCube_out_477", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_477/frame_0055.jpg", + "maniskill/StackCube/images/episode_477/frame_0095.jpg", + "maniskill/StackCube/images/episode_477/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.287, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.372, 0.513]). The trajectory involves 51 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_477", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_477.json" + } + }, + { + "id": "maniskill_StackCube_out_285", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_285/frame_0049.jpg", + "maniskill/StackCube/images/episode_285/frame_0096.jpg", + "maniskill/StackCube/images/episode_285/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.374, 0.468]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.579]). The trajectory involves 61 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_285", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 47, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_285.json" + } + }, + { + "id": "maniskill_StackCube_out_926", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_926/frame_0039.jpg", + "maniskill/StackCube/images/episode_926/frame_0073.jpg", + "maniskill/StackCube/images/episode_926/frame_0079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.309, 0.470]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.330, 0.462]). The trajectory involves 41 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_926", + "trajectory_length": 41, + "key_frame_indices": [ + 0, + 34, + 40 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_926.json" + } + }, + { + "id": "maniskill_StackCube_out_292", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_292/frame_0046.jpg", + "maniskill/StackCube/images/episode_292/frame_0064.jpg", + "maniskill/StackCube/images/episode_292/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.434, 0.468]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.357, 0.445]). The trajectory involves 57 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_292", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_292.json" + } + }, + { + "id": "maniskill_StackCube_out_573", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_573/frame_0039.jpg", + "maniskill/StackCube/images/episode_573/frame_0057.jpg", + "maniskill/StackCube/images/episode_573/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.435, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.384, 0.548]). The trajectory involves 59 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_573", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_573.json" + } + }, + { + "id": "maniskill_StackCube_out_122", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_122/frame_0049.jpg", + "maniskill/StackCube/images/episode_122/frame_0090.jpg", + "maniskill/StackCube/images/episode_122/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.542, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.381, 0.437]). The trajectory involves 58 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_122", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 41, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_122.json" + } + }, + { + "id": "maniskill_StackCube_out_427", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_427/frame_0033.jpg", + "maniskill/StackCube/images/episode_427/frame_0073.jpg", + "maniskill/StackCube/images/episode_427/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.258, 0.469]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.313, 0.501]). The trajectory involves 51 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_427", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_427.json" + } + }, + { + "id": "maniskill_StackCube_out_918", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_918/frame_0063.jpg", + "maniskill/StackCube/images/episode_918/frame_0112.jpg", + "maniskill/StackCube/images/episode_918/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.537, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.315, 0.430]). The trajectory involves 67 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_918", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 49, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_918.json" + } + }, + { + "id": "maniskill_StackCube_out_635", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_635/frame_0034.jpg", + "maniskill/StackCube/images/episode_635/frame_0052.jpg", + "maniskill/StackCube/images/episode_635/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.407, 0.519]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.355, 0.460]). The trajectory involves 43 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_635", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 18, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_635.json" + } + }, + { + "id": "maniskill_StackCube_out_694", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_694/frame_0045.jpg", + "maniskill/StackCube/images/episode_694/frame_0089.jpg", + "maniskill/StackCube/images/episode_694/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.363, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.642]). The trajectory involves 57 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_694", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 44, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_694.json" + } + }, + { + "id": "maniskill_StackCube_out_519", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_519/frame_0042.jpg", + "maniskill/StackCube/images/episode_519/frame_0086.jpg", + "maniskill/StackCube/images/episode_519/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.310, 0.472]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.476]). The trajectory involves 60 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_519", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 44, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_519.json" + } + }, + { + "id": "maniskill_StackCube_out_429", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_429/frame_0046.jpg", + "maniskill/StackCube/images/episode_429/frame_0083.jpg", + "maniskill/StackCube/images/episode_429/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.535, 0.533]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.461]). The trajectory involves 44 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_429", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 37, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_429.json" + } + }, + { + "id": "maniskill_StackCube_out_81", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_81/frame_0039.jpg", + "maniskill/StackCube/images/episode_81/frame_0079.jpg", + "maniskill/StackCube/images/episode_81/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.483, 0.554]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.337, 0.435]). The trajectory involves 57 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_81", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 40, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_81.json" + } + }, + { + "id": "maniskill_StackCube_out_753", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_753/frame_0044.jpg", + "maniskill/StackCube/images/episode_753/frame_0085.jpg", + "maniskill/StackCube/images/episode_753/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.373, 0.605]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.430, 0.654]). The trajectory involves 50 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_753", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 41, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_753.json" + } + }, + { + "id": "maniskill_StackCube_out_350", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_350/frame_0034.jpg", + "maniskill/StackCube/images/episode_350/frame_0052.jpg", + "maniskill/StackCube/images/episode_350/frame_0081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.395, 0.528]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.537]). The trajectory involves 48 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_350", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_350.json" + } + }, + { + "id": "maniskill_StackCube_out_593", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_593/frame_0045.jpg", + "maniskill/StackCube/images/episode_593/frame_0064.jpg", + "maniskill/StackCube/images/episode_593/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.440, 0.474]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.473]). The trajectory involves 55 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_593", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 19, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_593.json" + } + }, + { + "id": "maniskill_StackCube_out_617", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_617/frame_0053.jpg", + "maniskill/StackCube/images/episode_617/frame_0098.jpg", + "maniskill/StackCube/images/episode_617/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.298, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.407, 0.534]). The trajectory involves 58 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_617", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 45, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_617.json" + } + }, + { + "id": "maniskill_StackCube_out_549", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_549/frame_0039.jpg", + "maniskill/StackCube/images/episode_549/frame_0074.jpg", + "maniskill/StackCube/images/episode_549/frame_0081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.338, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.378, 0.491]). The trajectory involves 43 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_549", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 35, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_549.json" + } + }, + { + "id": "maniskill_StackCube_out_850", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_850/frame_0051.jpg", + "maniskill/StackCube/images/episode_850/frame_0094.jpg", + "maniskill/StackCube/images/episode_850/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.471, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.293, 0.508]). The trajectory involves 62 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_850", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 43, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_850.json" + } + }, + { + "id": "maniskill_StackCube_out_6", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_6/frame_0052.jpg", + "maniskill/StackCube/images/episode_6/frame_0070.jpg", + "maniskill/StackCube/images/episode_6/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.414, 0.461]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.387, 0.506]). The trajectory involves 62 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_6", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_6.json" + } + }, + { + "id": "maniskill_StackCube_out_646", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_646/frame_0048.jpg", + "maniskill/StackCube/images/episode_646/frame_0087.jpg", + "maniskill/StackCube/images/episode_646/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.439, 0.480]). The trajectory involves 51 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_646", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 39, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_646.json" + } + }, + { + "id": "maniskill_StackCube_out_34", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_34/frame_0040.jpg", + "maniskill/StackCube/images/episode_34/frame_0082.jpg", + "maniskill/StackCube/images/episode_34/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.537, 0.571]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.561, 0.665]). The trajectory involves 53 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_34", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 42, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_34.json" + } + }, + { + "id": "maniskill_StackCube_out_767", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_767/frame_0049.jpg", + "maniskill/StackCube/images/episode_767/frame_0067.jpg", + "maniskill/StackCube/images/episode_767/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.441, 0.458]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.371, 0.475]). The trajectory involves 67 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_767", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_767.json" + } + }, + { + "id": "maniskill_StackCube_out_906", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_906/frame_0040.jpg", + "maniskill/StackCube/images/episode_906/frame_0058.jpg", + "maniskill/StackCube/images/episode_906/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.394, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.347, 0.396]). The trajectory involves 67 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_906", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_906.json" + } + }, + { + "id": "maniskill_StackCube_out_12", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_12/frame_0039.jpg", + "maniskill/StackCube/images/episode_12/frame_0079.jpg", + "maniskill/StackCube/images/episode_12/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.404, 0.533]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.526, 0.581]). The trajectory involves 50 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_12", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 40, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_12.json" + } + }, + { + "id": "maniskill_StackCube_out_599", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_599/frame_0042.jpg", + "maniskill/StackCube/images/episode_599/frame_0061.jpg", + "maniskill/StackCube/images/episode_599/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.383, 0.577]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.462, 0.489]). The trajectory involves 63 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_599", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 19, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_599.json" + } + }, + { + "id": "maniskill_StackCube_out_754", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_754/frame_0051.jpg", + "maniskill/StackCube/images/episode_754/frame_0090.jpg", + "maniskill/StackCube/images/episode_754/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.449, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.364, 0.528]). The trajectory involves 51 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_754", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 39, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_754.json" + } + }, + { + "id": "maniskill_StackCube_out_948", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_948/frame_0036.jpg", + "maniskill/StackCube/images/episode_948/frame_0055.jpg", + "maniskill/StackCube/images/episode_948/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.502, 0.671]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.495]). The trajectory involves 61 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_948", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 19, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_948.json" + } + }, + { + "id": "maniskill_StackCube_out_409", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_409/frame_0045.jpg", + "maniskill/StackCube/images/episode_409/frame_0091.jpg", + "maniskill/StackCube/images/episode_409/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.318, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.571]). The trajectory involves 59 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_409", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 46, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_409.json" + } + }, + { + "id": "maniskill_StackCube_out_605", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_605/frame_0058.jpg", + "maniskill/StackCube/images/episode_605/frame_0098.jpg", + "maniskill/StackCube/images/episode_605/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.239, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.321, 0.502]). The trajectory involves 51 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_605", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_605.json" + } + }, + { + "id": "maniskill_StackCube_out_533", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_533/frame_0042.jpg", + "maniskill/StackCube/images/episode_533/frame_0060.jpg", + "maniskill/StackCube/images/episode_533/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.404, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.341, 0.421]). The trajectory involves 58 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_533", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_533.json" + } + }, + { + "id": "maniskill_StackCube_out_239", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_239/frame_0039.jpg", + "maniskill/StackCube/images/episode_239/frame_0078.jpg", + "maniskill/StackCube/images/episode_239/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.438, 0.547]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.325, 0.467]). The trajectory involves 50 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_239", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_239.json" + } + }, + { + "id": "maniskill_StackCube_out_58", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_58/frame_0049.jpg", + "maniskill/StackCube/images/episode_58/frame_0067.jpg", + "maniskill/StackCube/images/episode_58/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.415, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.355, 0.412]). The trajectory involves 58 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_58", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_58.json" + } + }, + { + "id": "maniskill_StackCube_out_470", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_470/frame_0055.jpg", + "maniskill/StackCube/images/episode_470/frame_0090.jpg", + "maniskill/StackCube/images/episode_470/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.252, 0.474]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.294, 0.446]). The trajectory involves 42 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_470", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 35, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_470.json" + } + }, + { + "id": "maniskill_StackCube_out_288", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_288/frame_0051.jpg", + "maniskill/StackCube/images/episode_288/frame_0099.jpg", + "maniskill/StackCube/images/episode_288/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.298, 0.440]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.318, 0.518]). The trajectory involves 62 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_288", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 48, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_288.json" + } + }, + { + "id": "maniskill_StackCube_out_2", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_2/frame_0049.jpg", + "maniskill/StackCube/images/episode_2/frame_0067.jpg", + "maniskill/StackCube/images/episode_2/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.438, 0.508]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.409, 0.455]). The trajectory involves 44 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_2", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_2.json" + } + }, + { + "id": "maniskill_StackCube_out_365", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_365/frame_0042.jpg", + "maniskill/StackCube/images/episode_365/frame_0083.jpg", + "maniskill/StackCube/images/episode_365/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.584, 0.688]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.374, 0.487]). The trajectory involves 57 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_365", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 41, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_365.json" + } + }, + { + "id": "maniskill_StackCube_out_656", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_656/frame_0045.jpg", + "maniskill/StackCube/images/episode_656/frame_0094.jpg", + "maniskill/StackCube/images/episode_656/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.334, 0.442]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.506, 0.539]). The trajectory involves 61 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_656", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 49, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_656.json" + } + }, + { + "id": "maniskill_StackCube_out_361", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_361/frame_0046.jpg", + "maniskill/StackCube/images/episode_361/frame_0089.jpg", + "maniskill/StackCube/images/episode_361/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.366, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.521, 0.477]). The trajectory involves 64 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_361", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 43, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_361.json" + } + }, + { + "id": "maniskill_StackCube_out_769", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_769/frame_0047.jpg", + "maniskill/StackCube/images/episode_769/frame_0090.jpg", + "maniskill/StackCube/images/episode_769/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.403, 0.630]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.276, 0.510]). The trajectory involves 56 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_769", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 43, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_769.json" + } + }, + { + "id": "maniskill_StackCube_out_399", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_399/frame_0042.jpg", + "maniskill/StackCube/images/episode_399/frame_0082.jpg", + "maniskill/StackCube/images/episode_399/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.417, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.378, 0.591]). The trajectory involves 54 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_399", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 40, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_399.json" + } + }, + { + "id": "maniskill_StackCube_out_512", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_512/frame_0058.jpg", + "maniskill/StackCube/images/episode_512/frame_0076.jpg", + "maniskill/StackCube/images/episode_512/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.342, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.406]). The trajectory involves 62 precise waypoints with total movement distance of 0.102." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_512", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_512.json" + } + }, + { + "id": "maniskill_StackCube_out_462", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_462/frame_0045.jpg", + "maniskill/StackCube/images/episode_462/frame_0063.jpg", + "maniskill/StackCube/images/episode_462/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.305, 0.431]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.307, 0.460]). The trajectory involves 62 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_462", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_462.json" + } + }, + { + "id": "maniskill_StackCube_out_95", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_95/frame_0057.jpg", + "maniskill/StackCube/images/episode_95/frame_0104.jpg", + "maniskill/StackCube/images/episode_95/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.466, 0.463]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.308, 0.419]). The trajectory involves 61 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_95", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 47, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_95.json" + } + }, + { + "id": "maniskill_StackCube_out_553", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_553/frame_0048.jpg", + "maniskill/StackCube/images/episode_553/frame_0066.jpg", + "maniskill/StackCube/images/episode_553/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.444, 0.545]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.355, 0.450]). The trajectory involves 49 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_553", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_553.json" + } + }, + { + "id": "maniskill_StackCube_out_327", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_327/frame_0051.jpg", + "maniskill/StackCube/images/episode_327/frame_0090.jpg", + "maniskill/StackCube/images/episode_327/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.470, 0.548]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.361, 0.451]). The trajectory involves 50 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_327", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_327.json" + } + }, + { + "id": "maniskill_StackCube_out_109", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_109/frame_0041.jpg", + "maniskill/StackCube/images/episode_109/frame_0084.jpg", + "maniskill/StackCube/images/episode_109/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.471, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.334, 0.578]). The trajectory involves 61 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_109", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 43, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_109.json" + } + }, + { + "id": "maniskill_StackCube_out_652", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_652/frame_0041.jpg", + "maniskill/StackCube/images/episode_652/frame_0086.jpg", + "maniskill/StackCube/images/episode_652/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.492, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.305, 0.484]). The trajectory involves 62 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_652", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 45, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_652.json" + } + }, + { + "id": "maniskill_StackCube_out_116", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_116/frame_0046.jpg", + "maniskill/StackCube/images/episode_116/frame_0086.jpg", + "maniskill/StackCube/images/episode_116/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.233, 0.482]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.258, 0.506]). The trajectory involves 49 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_116", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 40, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_116.json" + } + }, + { + "id": "maniskill_StackCube_out_988", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_988/frame_0037.jpg", + "maniskill/StackCube/images/episode_988/frame_0076.jpg", + "maniskill/StackCube/images/episode_988/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.375, 0.490]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.271, 0.460]). The trajectory involves 49 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_988", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 39, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_988.json" + } + }, + { + "id": "maniskill_StackCube_out_911", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_911/frame_0051.jpg", + "maniskill/StackCube/images/episode_911/frame_0069.jpg", + "maniskill/StackCube/images/episode_911/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.341, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.425]). The trajectory involves 61 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_911", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 18, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_911.json" + } + }, + { + "id": "maniskill_StackCube_out_320", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_320/frame_0036.jpg", + "maniskill/StackCube/images/episode_320/frame_0078.jpg", + "maniskill/StackCube/images/episode_320/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.511, 0.507]). The trajectory involves 54 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_320", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 42, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_320.json" + } + }, + { + "id": "maniskill_StackCube_out_218", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_218/frame_0043.jpg", + "maniskill/StackCube/images/episode_218/frame_0088.jpg", + "maniskill/StackCube/images/episode_218/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.531, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.347, 0.553]). The trajectory involves 65 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_218", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 45, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_218.json" + } + }, + { + "id": "maniskill_StackCube_out_188", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_188/frame_0049.jpg", + "maniskill/StackCube/images/episode_188/frame_0089.jpg", + "maniskill/StackCube/images/episode_188/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.412, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.495, 0.445]). The trajectory involves 51 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_188", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_188.json" + } + }, + { + "id": "maniskill_StackCube_out_173", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_173/frame_0047.jpg", + "maniskill/StackCube/images/episode_173/frame_0087.jpg", + "maniskill/StackCube/images/episode_173/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.443, 0.529]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.343, 0.496]). The trajectory involves 50 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_173", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 40, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_173.json" + } + }, + { + "id": "maniskill_StackCube_out_187", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_187/frame_0046.jpg", + "maniskill/StackCube/images/episode_187/frame_0089.jpg", + "maniskill/StackCube/images/episode_187/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.516, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.450]). The trajectory involves 55 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_187", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 43, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_187.json" + } + }, + { + "id": "maniskill_StackCube_out_144", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_144/frame_0042.jpg", + "maniskill/StackCube/images/episode_144/frame_0087.jpg", + "maniskill/StackCube/images/episode_144/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.599, 0.603]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.502]). The trajectory involves 60 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_144", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 45, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_144.json" + } + }, + { + "id": "maniskill_StackCube_out_891", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_891/frame_0042.jpg", + "maniskill/StackCube/images/episode_891/frame_0060.jpg", + "maniskill/StackCube/images/episode_891/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.426, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.553, 0.479]). The trajectory involves 65 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_891", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 18, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_891.json" + } + }, + { + "id": "maniskill_StackCube_out_977", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_977/frame_0040.jpg", + "maniskill/StackCube/images/episode_977/frame_0088.jpg", + "maniskill/StackCube/images/episode_977/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.293, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.600]). The trajectory involves 65 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_977", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 48, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_977.json" + } + }, + { + "id": "maniskill_StackCube_out_890", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_890/frame_0054.jpg", + "maniskill/StackCube/images/episode_890/frame_0094.jpg", + "maniskill/StackCube/images/episode_890/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.314, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.428, 0.489]). The trajectory involves 52 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_890", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_890.json" + } + }, + { + "id": "maniskill_StackCube_out_421", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_421/frame_0052.jpg", + "maniskill/StackCube/images/episode_421/frame_0108.jpg", + "maniskill/StackCube/images/episode_421/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.412, 0.443]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.560, 0.609]). The trajectory involves 72 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_421", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 56, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_421.json" + } + }, + { + "id": "maniskill_StackCube_out_63", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_63/frame_0053.jpg", + "maniskill/StackCube/images/episode_63/frame_0097.jpg", + "maniskill/StackCube/images/episode_63/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.371, 0.637]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.268, 0.481]). The trajectory involves 59 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_63", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 44, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_63.json" + } + }, + { + "id": "maniskill_StackCube_out_979", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_979/frame_0049.jpg", + "maniskill/StackCube/images/episode_979/frame_0088.jpg", + "maniskill/StackCube/images/episode_979/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.484, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.460]). The trajectory involves 51 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_979", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 39, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_979.json" + } + }, + { + "id": "maniskill_StackCube_out_897", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_897/frame_0057.jpg", + "maniskill/StackCube/images/episode_897/frame_0109.jpg", + "maniskill/StackCube/images/episode_897/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.270, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.488, 0.483]). The trajectory involves 70 precise waypoints with total movement distance of 0.330." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_897", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 52, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_897.json" + } + }, + { + "id": "maniskill_StackCube_out_393", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_393/frame_0043.jpg", + "maniskill/StackCube/images/episode_393/frame_0088.jpg", + "maniskill/StackCube/images/episode_393/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.292, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.532]). The trajectory involves 60 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_393", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 45, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_393.json" + } + }, + { + "id": "maniskill_StackCube_out_774", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_774/frame_0034.jpg", + "maniskill/StackCube/images/episode_774/frame_0076.jpg", + "maniskill/StackCube/images/episode_774/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.259, 0.475]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.278, 0.526]). The trajectory involves 56 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_774", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 42, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_774.json" + } + }, + { + "id": "maniskill_StackCube_out_851", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_851/frame_0038.jpg", + "maniskill/StackCube/images/episode_851/frame_0078.jpg", + "maniskill/StackCube/images/episode_851/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.439, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.325, 0.476]). The trajectory involves 52 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_851", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_851.json" + } + }, + { + "id": "maniskill_StackCube_out_554", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_554/frame_0045.jpg", + "maniskill/StackCube/images/episode_554/frame_0092.jpg", + "maniskill/StackCube/images/episode_554/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.438, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.316, 0.428]). The trajectory involves 67 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_554", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 47, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_554.json" + } + }, + { + "id": "maniskill_StackCube_out_378", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_378/frame_0041.jpg", + "maniskill/StackCube/images/episode_378/frame_0085.jpg", + "maniskill/StackCube/images/episode_378/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.339, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.378, 0.534]). The trajectory involves 57 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_378", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 44, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_378.json" + } + }, + { + "id": "maniskill_StackCube_out_78", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_78/frame_0036.jpg", + "maniskill/StackCube/images/episode_78/frame_0079.jpg", + "maniskill/StackCube/images/episode_78/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.517, 0.591]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.416, 0.602]). The trajectory involves 57 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_78", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 43, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_78.json" + } + }, + { + "id": "maniskill_StackCube_out_80", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_80/frame_0042.jpg", + "maniskill/StackCube/images/episode_80/frame_0060.jpg", + "maniskill/StackCube/images/episode_80/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.487, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.476, 0.432]). The trajectory involves 62 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_80", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_80.json" + } + }, + { + "id": "maniskill_StackCube_out_126", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_126/frame_0042.jpg", + "maniskill/StackCube/images/episode_126/frame_0083.jpg", + "maniskill/StackCube/images/episode_126/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.333, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.453, 0.518]). The trajectory involves 54 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_126", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 41, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_126.json" + } + }, + { + "id": "maniskill_StackCube_out_552", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_552/frame_0051.jpg", + "maniskill/StackCube/images/episode_552/frame_0071.jpg", + "maniskill/StackCube/images/episode_552/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.293, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.309, 0.449]). The trajectory involves 58 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_552", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 20, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_552.json" + } + }, + { + "id": "maniskill_StackCube_out_466", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_466/frame_0050.jpg", + "maniskill/StackCube/images/episode_466/frame_0097.jpg", + "maniskill/StackCube/images/episode_466/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.561, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.333, 0.438]). The trajectory involves 68 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_466", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 47, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_466.json" + } + }, + { + "id": "maniskill_StackCube_out_789", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_789/frame_0042.jpg", + "maniskill/StackCube/images/episode_789/frame_0060.jpg", + "maniskill/StackCube/images/episode_789/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.466, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.449]). The trajectory involves 55 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_789", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_789.json" + } + }, + { + "id": "maniskill_StackCube_out_779", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_779/frame_0042.jpg", + "maniskill/StackCube/images/episode_779/frame_0078.jpg", + "maniskill/StackCube/images/episode_779/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.344, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.386, 0.499]). The trajectory involves 43 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_779", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_779.json" + } + }, + { + "id": "maniskill_StackCube_out_209", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_209/frame_0048.jpg", + "maniskill/StackCube/images/episode_209/frame_0090.jpg", + "maniskill/StackCube/images/episode_209/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.407, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.299, 0.442]). The trajectory involves 55 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_209", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 42, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_209.json" + } + }, + { + "id": "maniskill_StackCube_out_140", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_140/frame_0034.jpg", + "maniskill/StackCube/images/episode_140/frame_0074.jpg", + "maniskill/StackCube/images/episode_140/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.333, 0.482]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.513]). The trajectory involves 50 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_140", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 40, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_140.json" + } + }, + { + "id": "maniskill_StackCube_out_920", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_920/frame_0051.jpg", + "maniskill/StackCube/images/episode_920/frame_0095.jpg", + "maniskill/StackCube/images/episode_920/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.363, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.584]). The trajectory involves 58 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_920", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 44, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_920.json" + } + }, + { + "id": "maniskill_StackCube_out_942", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_942/frame_0055.jpg", + "maniskill/StackCube/images/episode_942/frame_0075.jpg", + "maniskill/StackCube/images/episode_942/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.294, 0.615]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.288, 0.489]). The trajectory involves 64 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_942", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 20, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_942.json" + } + }, + { + "id": "maniskill_StackCube_out_341", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_341/frame_0038.jpg", + "maniskill/StackCube/images/episode_341/frame_0080.jpg", + "maniskill/StackCube/images/episode_341/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.507, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.348, 0.487]). The trajectory involves 58 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_341", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 42, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_341.json" + } + }, + { + "id": "maniskill_StackCube_out_219", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_219/frame_0066.jpg", + "maniskill/StackCube/images/episode_219/frame_0111.jpg", + "maniskill/StackCube/images/episode_219/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.565, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.414]). The trajectory involves 62 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_219", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 45, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_219.json" + } + }, + { + "id": "maniskill_StackCube_out_832", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_832/frame_0053.jpg", + "maniskill/StackCube/images/episode_832/frame_0097.jpg", + "maniskill/StackCube/images/episode_832/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.307, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.500]). The trajectory involves 57 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_832", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 44, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_832.json" + } + }, + { + "id": "maniskill_StackCube_out_340", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_340/frame_0051.jpg", + "maniskill/StackCube/images/episode_340/frame_0090.jpg", + "maniskill/StackCube/images/episode_340/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.372, 0.461]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.445, 0.491]). The trajectory involves 49 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_340", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 39, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_340.json" + } + }, + { + "id": "maniskill_StackCube_out_94", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_94/frame_0041.jpg", + "maniskill/StackCube/images/episode_94/frame_0087.jpg", + "maniskill/StackCube/images/episode_94/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.397, 0.470]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.424, 0.560]). The trajectory involves 59 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_94", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 46, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_94.json" + } + }, + { + "id": "maniskill_StackCube_out_45", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_45/frame_0040.jpg", + "maniskill/StackCube/images/episode_45/frame_0079.jpg", + "maniskill/StackCube/images/episode_45/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.558, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.403, 0.443]). The trajectory involves 58 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_45", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 39, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_45.json" + } + }, + { + "id": "maniskill_StackCube_out_743", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_743/frame_0051.jpg", + "maniskill/StackCube/images/episode_743/frame_0069.jpg", + "maniskill/StackCube/images/episode_743/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.416, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.413, 0.463]). The trajectory involves 56 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_743", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_743.json" + } + }, + { + "id": "maniskill_StackCube_out_397", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_397/frame_0059.jpg", + "maniskill/StackCube/images/episode_397/frame_0070.jpg", + "maniskill/StackCube/images/episode_397/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.378, 0.549]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.295, 0.422]). The trajectory involves 56 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_397", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 11, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_397.json" + } + }, + { + "id": "maniskill_StackCube_out_893", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_893/frame_0040.jpg", + "maniskill/StackCube/images/episode_893/frame_0058.jpg", + "maniskill/StackCube/images/episode_893/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.359, 0.478]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.358, 0.497]). The trajectory involves 51 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_893", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_893.json" + } + }, + { + "id": "maniskill_StackCube_out_411", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_411/frame_0054.jpg", + "maniskill/StackCube/images/episode_411/frame_0094.jpg", + "maniskill/StackCube/images/episode_411/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.353, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.227, 0.485]). The trajectory involves 51 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_411", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_411.json" + } + }, + { + "id": "maniskill_StackCube_out_246", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_246/frame_0038.jpg", + "maniskill/StackCube/images/episode_246/frame_0080.jpg", + "maniskill/StackCube/images/episode_246/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.436, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.445, 0.556]). The trajectory involves 53 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_246", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 42, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_246.json" + } + }, + { + "id": "maniskill_StackCube_out_597", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_597/frame_0041.jpg", + "maniskill/StackCube/images/episode_597/frame_0083.jpg", + "maniskill/StackCube/images/episode_597/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.421, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.238, 0.454]). The trajectory involves 57 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_597", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 42, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_597.json" + } + }, + { + "id": "maniskill_StackCube_out_709", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_709/frame_0035.jpg", + "maniskill/StackCube/images/episode_709/frame_0079.jpg", + "maniskill/StackCube/images/episode_709/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.443, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.207, 0.461]). The trajectory involves 61 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_709", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 44, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_709.json" + } + }, + { + "id": "maniskill_StackCube_out_629", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_629/frame_0036.jpg", + "maniskill/StackCube/images/episode_629/frame_0083.jpg", + "maniskill/StackCube/images/episode_629/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.410, 0.609]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.276, 0.466]). The trajectory involves 65 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_629", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 47, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_629.json" + } + }, + { + "id": "maniskill_StackCube_out_931", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_931/frame_0057.jpg", + "maniskill/StackCube/images/episode_931/frame_0098.jpg", + "maniskill/StackCube/images/episode_931/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.330, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.462, 0.468]). The trajectory involves 52 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_931", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_931.json" + } + }, + { + "id": "maniskill_StackCube_out_300", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_300/frame_0049.jpg", + "maniskill/StackCube/images/episode_300/frame_0090.jpg", + "maniskill/StackCube/images/episode_300/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.231, 0.521]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.306, 0.519]). The trajectory involves 50 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_300", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 41, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_300.json" + } + }, + { + "id": "maniskill_StackCube_out_559", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_559/frame_0042.jpg", + "maniskill/StackCube/images/episode_559/frame_0085.jpg", + "maniskill/StackCube/images/episode_559/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.344, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.503, 0.524]). The trajectory involves 55 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_559", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 43, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_559.json" + } + }, + { + "id": "maniskill_StackCube_out_741", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_741/frame_0040.jpg", + "maniskill/StackCube/images/episode_741/frame_0078.jpg", + "maniskill/StackCube/images/episode_741/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.469, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.436]). The trajectory involves 51 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_741", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 38, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_741.json" + } + }, + { + "id": "maniskill_StackCube_out_516", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_516/frame_0044.jpg", + "maniskill/StackCube/images/episode_516/frame_0088.jpg", + "maniskill/StackCube/images/episode_516/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.415, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.424, 0.543]). The trajectory involves 60 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_516", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 44, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_516.json" + } + }, + { + "id": "maniskill_StackCube_out_29", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_29/frame_0057.jpg", + "maniskill/StackCube/images/episode_29/frame_0096.jpg", + "maniskill/StackCube/images/episode_29/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.323, 0.465]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.373, 0.488]). The trajectory involves 48 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_29", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 39, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_29.json" + } + }, + { + "id": "maniskill_StackCube_out_506", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_506/frame_0038.jpg", + "maniskill/StackCube/images/episode_506/frame_0074.jpg", + "maniskill/StackCube/images/episode_506/frame_0080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.317, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.358, 0.471]). The trajectory involves 43 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_506", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_506.json" + } + }, + { + "id": "maniskill_StackCube_out_452", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_452/frame_0035.jpg", + "maniskill/StackCube/images/episode_452/frame_0053.jpg", + "maniskill/StackCube/images/episode_452/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.329, 0.473]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.428, 0.426]). The trajectory involves 60 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_452", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_452.json" + } + }, + { + "id": "maniskill_StackCube_out_594", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_594/frame_0056.jpg", + "maniskill/StackCube/images/episode_594/frame_0074.jpg", + "maniskill/StackCube/images/episode_594/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.331, 0.442]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.310, 0.484]). The trajectory involves 64 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_594", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 18, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_594.json" + } + }, + { + "id": "maniskill_StackCube_out_665", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_665/frame_0036.jpg", + "maniskill/StackCube/images/episode_665/frame_0076.jpg", + "maniskill/StackCube/images/episode_665/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.355, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.311, 0.558]). The trajectory involves 51 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_665", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_665.json" + } + }, + { + "id": "maniskill_StackCube_out_514", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_514/frame_0055.jpg", + "maniskill/StackCube/images/episode_514/frame_0095.jpg", + "maniskill/StackCube/images/episode_514/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.346, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.499]). The trajectory involves 55 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_514", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 40, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_514.json" + } + }, + { + "id": "maniskill_StackCube_out_11", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_11/frame_0052.jpg", + "maniskill/StackCube/images/episode_11/frame_0093.jpg", + "maniskill/StackCube/images/episode_11/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.492, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.335, 0.487]). The trajectory involves 54 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_11", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 41, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_11.json" + } + }, + { + "id": "maniskill_StackCube_out_951", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_951/frame_0040.jpg", + "maniskill/StackCube/images/episode_951/frame_0058.jpg", + "maniskill/StackCube/images/episode_951/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.521, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.511, 0.466]). The trajectory involves 54 precise waypoints with total movement distance of 0.110." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_951", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_951.json" + } + }, + { + "id": "maniskill_StackCube_out_564", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_564/frame_0045.jpg", + "maniskill/StackCube/images/episode_564/frame_0088.jpg", + "maniskill/StackCube/images/episode_564/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.284, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.188, 0.487]). The trajectory involves 57 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_564", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 43, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_564.json" + } + }, + { + "id": "maniskill_StackCube_out_821", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_821/frame_0037.jpg", + "maniskill/StackCube/images/episode_821/frame_0055.jpg", + "maniskill/StackCube/images/episode_821/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.326, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.401, 0.423]). The trajectory involves 62 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_821", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_821.json" + } + }, + { + "id": "maniskill_StackCube_out_829", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_829/frame_0039.jpg", + "maniskill/StackCube/images/episode_829/frame_0087.jpg", + "maniskill/StackCube/images/episode_829/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.416, 0.606]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.255, 0.476]). The trajectory involves 63 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_829", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 48, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_829.json" + } + }, + { + "id": "maniskill_StackCube_out_225", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_225/frame_0044.jpg", + "maniskill/StackCube/images/episode_225/frame_0088.jpg", + "maniskill/StackCube/images/episode_225/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.331, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.340, 0.563]). The trajectory involves 52 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_225", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 44, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_225.json" + } + }, + { + "id": "maniskill_StackCube_out_344", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_344/frame_0049.jpg", + "maniskill/StackCube/images/episode_344/frame_0094.jpg", + "maniskill/StackCube/images/episode_344/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.376, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.479, 0.681]). The trajectory involves 61 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_344", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 45, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_344.json" + } + }, + { + "id": "maniskill_StackCube_out_834", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_834/frame_0046.jpg", + "maniskill/StackCube/images/episode_834/frame_0088.jpg", + "maniskill/StackCube/images/episode_834/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.430, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.472, 0.580]). The trajectory involves 53 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_834", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 42, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_834.json" + } + }, + { + "id": "maniskill_StackCube_out_581", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_581/frame_0033.jpg", + "maniskill/StackCube/images/episode_581/frame_0069.jpg", + "maniskill/StackCube/images/episode_581/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.355, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.392, 0.491]). The trajectory involves 42 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_581", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 36, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_581.json" + } + }, + { + "id": "maniskill_StackCube_out_499", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_499/frame_0050.jpg", + "maniskill/StackCube/images/episode_499/frame_0069.jpg", + "maniskill/StackCube/images/episode_499/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.425, 0.598]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.424, 0.480]). The trajectory involves 64 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_499", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 19, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_499.json" + } + }, + { + "id": "maniskill_StackCube_out_379", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_379/frame_0041.jpg", + "maniskill/StackCube/images/episode_379/frame_0083.jpg", + "maniskill/StackCube/images/episode_379/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.517, 0.635]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.325, 0.489]). The trajectory involves 57 precise waypoints with total movement distance of 0.306." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_379", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 42, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_379.json" + } + }, + { + "id": "maniskill_StackCube_out_780", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_780/frame_0049.jpg", + "maniskill/StackCube/images/episode_780/frame_0086.jpg", + "maniskill/StackCube/images/episode_780/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.456, 0.478]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.389, 0.423]). The trajectory involves 44 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_780", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 37, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_780.json" + } + }, + { + "id": "maniskill_StackCube_out_846", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_846/frame_0040.jpg", + "maniskill/StackCube/images/episode_846/frame_0078.jpg", + "maniskill/StackCube/images/episode_846/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.452, 0.504]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.341, 0.435]). The trajectory involves 49 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_846", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 38, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_846.json" + } + }, + { + "id": "maniskill_StackCube_out_835", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_835/frame_0056.jpg", + "maniskill/StackCube/images/episode_835/frame_0076.jpg", + "maniskill/StackCube/images/episode_835/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.382, 0.653]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.408, 0.557]). The trajectory involves 55 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_835", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 20, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_835.json" + } + }, + { + "id": "maniskill_StackCube_out_294", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_294/frame_0040.jpg", + "maniskill/StackCube/images/episode_294/frame_0086.jpg", + "maniskill/StackCube/images/episode_294/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.380, 0.470]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.594]). The trajectory involves 63 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_294", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 46, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_294.json" + } + }, + { + "id": "maniskill_StackCube_out_138", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_138/frame_0051.jpg", + "maniskill/StackCube/images/episode_138/frame_0069.jpg", + "maniskill/StackCube/images/episode_138/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.505, 0.489]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.450, 0.422]). The trajectory involves 49 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_138", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_138.json" + } + }, + { + "id": "maniskill_StackCube_out_223", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_223/frame_0034.jpg", + "maniskill/StackCube/images/episode_223/frame_0052.jpg", + "maniskill/StackCube/images/episode_223/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.366, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.357, 0.401]). The trajectory involves 64 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_223", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 18, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_223.json" + } + }, + { + "id": "maniskill_StackCube_out_62", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_62/frame_0046.jpg", + "maniskill/StackCube/images/episode_62/frame_0082.jpg", + "maniskill/StackCube/images/episode_62/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.409, 0.492]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.498]). The trajectory involves 43 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_62", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_62.json" + } + }, + { + "id": "maniskill_StackCube_out_91", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_91/frame_0057.jpg", + "maniskill/StackCube/images/episode_91/frame_0094.jpg", + "maniskill/StackCube/images/episode_91/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.459, 0.473]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.495, 0.475]). The trajectory involves 44 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_91", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 37, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_91.json" + } + }, + { + "id": "maniskill_StackCube_out_667", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_667/frame_0040.jpg", + "maniskill/StackCube/images/episode_667/frame_0084.jpg", + "maniskill/StackCube/images/episode_667/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.351, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.490, 0.472]). The trajectory involves 63 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_667", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 44, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_667.json" + } + }, + { + "id": "maniskill_StackCube_out_715", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_715/frame_0054.jpg", + "maniskill/StackCube/images/episode_715/frame_0095.jpg", + "maniskill/StackCube/images/episode_715/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.347, 0.465]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.488, 0.461]). The trajectory involves 59 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_715", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 41, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_715.json" + } + }, + { + "id": "maniskill_StackCube_out_518", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_518/frame_0057.jpg", + "maniskill/StackCube/images/episode_518/frame_0076.jpg", + "maniskill/StackCube/images/episode_518/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.522, 0.678]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.493, 0.580]). The trajectory involves 43 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_518", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 19, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_518.json" + } + }, + { + "id": "maniskill_StackCube_out_451", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_451/frame_0037.jpg", + "maniskill/StackCube/images/episode_451/frame_0055.jpg", + "maniskill/StackCube/images/episode_451/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.475, 0.603]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.447]). The trajectory involves 59 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_451", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_451.json" + } + }, + { + "id": "maniskill_StackCube_out_775", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_775/frame_0056.jpg", + "maniskill/StackCube/images/episode_775/frame_0101.jpg", + "maniskill/StackCube/images/episode_775/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.532, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.328, 0.451]). The trajectory involves 66 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_775", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 45, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_775.json" + } + }, + { + "id": "maniskill_StackCube_out_454", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_454/frame_0039.jpg", + "maniskill/StackCube/images/episode_454/frame_0077.jpg", + "maniskill/StackCube/images/episode_454/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.456, 0.578]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.386, 0.549]). The trajectory involves 47 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_454", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 38, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_454.json" + } + }, + { + "id": "maniskill_StackCube_out_166", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_166/frame_0036.jpg", + "maniskill/StackCube/images/episode_166/frame_0076.jpg", + "maniskill/StackCube/images/episode_166/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.567, 0.655]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.396, 0.470]). The trajectory involves 54 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_166", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 40, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_166.json" + } + }, + { + "id": "maniskill_StackCube_out_428", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_428/frame_0040.jpg", + "maniskill/StackCube/images/episode_428/frame_0080.jpg", + "maniskill/StackCube/images/episode_428/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.338, 0.466]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.454, 0.483]). The trajectory involves 50 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_428", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 40, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_428.json" + } + }, + { + "id": "maniskill_StackCube_out_124", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_124/frame_0065.jpg", + "maniskill/StackCube/images/episode_124/frame_0110.jpg", + "maniskill/StackCube/images/episode_124/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.479, 0.696]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.365, 0.514]). The trajectory involves 59 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_124", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_124.json" + } + }, + { + "id": "maniskill_StackCube_out_595", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_595/frame_0052.jpg", + "maniskill/StackCube/images/episode_595/frame_0070.jpg", + "maniskill/StackCube/images/episode_595/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.415, 0.449]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.487]). The trajectory involves 60 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_595", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_595.json" + } + }, + { + "id": "maniskill_StackCube_out_41", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_41/frame_0053.jpg", + "maniskill/StackCube/images/episode_41/frame_0092.jpg", + "maniskill/StackCube/images/episode_41/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.301, 0.430]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.357, 0.432]). The trajectory involves 47 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_41", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 39, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_41.json" + } + }, + { + "id": "maniskill_StackCube_out_622", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_622/frame_0033.jpg", + "maniskill/StackCube/images/episode_622/frame_0076.jpg", + "maniskill/StackCube/images/episode_622/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.341, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.511, 0.490]). The trajectory involves 62 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_622", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 43, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_622.json" + } + }, + { + "id": "maniskill_StackCube_out_615", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_615/frame_0039.jpg", + "maniskill/StackCube/images/episode_615/frame_0058.jpg", + "maniskill/StackCube/images/episode_615/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.427, 0.616]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.458, 0.513]). The trajectory involves 59 precise waypoints with total movement distance of 0.126." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_615", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 19, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_615.json" + } + }, + { + "id": "maniskill_StackCube_out_317", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_317/frame_0040.jpg", + "maniskill/StackCube/images/episode_317/frame_0082.jpg", + "maniskill/StackCube/images/episode_317/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.409, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.571, 0.525]). The trajectory involves 62 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_317", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 42, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_317.json" + } + }, + { + "id": "maniskill_StackCube_out_940", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_940/frame_0035.jpg", + "maniskill/StackCube/images/episode_940/frame_0077.jpg", + "maniskill/StackCube/images/episode_940/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.341, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.499, 0.540]). The trajectory involves 56 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_940", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 42, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_940.json" + } + }, + { + "id": "maniskill_StackCube_out_982", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_982/frame_0055.jpg", + "maniskill/StackCube/images/episode_982/frame_0102.jpg", + "maniskill/StackCube/images/episode_982/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.329, 0.609]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.608]). The trajectory involves 62 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_982", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 47, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_982.json" + } + }, + { + "id": "maniskill_StackCube_out_153", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_153/frame_0040.jpg", + "maniskill/StackCube/images/episode_153/frame_0078.jpg", + "maniskill/StackCube/images/episode_153/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.425, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.328, 0.443]). The trajectory involves 52 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_153", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 38, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_153.json" + } + }, + { + "id": "maniskill_StackCube_out_217", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_217/frame_0048.jpg", + "maniskill/StackCube/images/episode_217/frame_0066.jpg", + "maniskill/StackCube/images/episode_217/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.468, 0.488]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.412, 0.445]). The trajectory involves 45 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_217", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 18, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_217.json" + } + }, + { + "id": "maniskill_StackCube_out_18", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_18/frame_0047.jpg", + "maniskill/StackCube/images/episode_18/frame_0065.jpg", + "maniskill/StackCube/images/episode_18/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.343, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.416, 0.447]). The trajectory involves 58 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_18", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_18.json" + } + }, + { + "id": "maniskill_StackCube_out_614", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_614/frame_0043.jpg", + "maniskill/StackCube/images/episode_614/frame_0061.jpg", + "maniskill/StackCube/images/episode_614/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.463, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.467, 0.441]). The trajectory involves 61 precise waypoints with total movement distance of 0.112." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_614", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 18, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_614.json" + } + }, + { + "id": "maniskill_StackCube_out_161", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_161/frame_0033.jpg", + "maniskill/StackCube/images/episode_161/frame_0051.jpg", + "maniskill/StackCube/images/episode_161/frame_0080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.488]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.308, 0.419]). The trajectory involves 48 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_161", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_161.json" + } + }, + { + "id": "maniskill_StackCube_out_202", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_202/frame_0048.jpg", + "maniskill/StackCube/images/episode_202/frame_0089.jpg", + "maniskill/StackCube/images/episode_202/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.590, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.449, 0.460]). The trajectory involves 55 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_202", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 41, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_202.json" + } + }, + { + "id": "maniskill_StackCube_out_234", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_234/frame_0051.jpg", + "maniskill/StackCube/images/episode_234/frame_0100.jpg", + "maniskill/StackCube/images/episode_234/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.253, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.580]). The trajectory involves 64 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_234", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 49, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_234.json" + } + }, + { + "id": "maniskill_StackCube_out_582", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_582/frame_0053.jpg", + "maniskill/StackCube/images/episode_582/frame_0089.jpg", + "maniskill/StackCube/images/episode_582/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.451, 0.485]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.512, 0.490]). The trajectory involves 43 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_582", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_582.json" + } + }, + { + "id": "maniskill_StackCube_out_380", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_380/frame_0043.jpg", + "maniskill/StackCube/images/episode_380/frame_0086.jpg", + "maniskill/StackCube/images/episode_380/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.384, 0.465]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.487, 0.544]). The trajectory involves 54 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_380", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 43, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_380.json" + } + }, + { + "id": "maniskill_StackCube_out_434", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_434/frame_0050.jpg", + "maniskill/StackCube/images/episode_434/frame_0088.jpg", + "maniskill/StackCube/images/episode_434/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.533, 0.512]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.459, 0.442]). The trajectory involves 46 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_434", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 38, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_434.json" + } + }, + { + "id": "maniskill_StackCube_out_888", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_888/frame_0036.jpg", + "maniskill/StackCube/images/episode_888/frame_0054.jpg", + "maniskill/StackCube/images/episode_888/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.457, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.389, 0.435]). The trajectory involves 52 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_888", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_888.json" + } + }, + { + "id": "maniskill_StackCube_out_90", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_90/frame_0040.jpg", + "maniskill/StackCube/images/episode_90/frame_0059.jpg", + "maniskill/StackCube/images/episode_90/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.382, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.324, 0.410]). The trajectory involves 67 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_90", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 19, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_90.json" + } + }, + { + "id": "maniskill_StackCube_out_613", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_613/frame_0046.jpg", + "maniskill/StackCube/images/episode_613/frame_0084.jpg", + "maniskill/StackCube/images/episode_613/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.426, 0.461]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.475, 0.469]). The trajectory involves 44 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_613", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 38, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_613.json" + } + }, + { + "id": "maniskill_StackCube_out_962", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_962/frame_0047.jpg", + "maniskill/StackCube/images/episode_962/frame_0086.jpg", + "maniskill/StackCube/images/episode_962/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.396, 0.452]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.474, 0.468]). The trajectory involves 48 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_962", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 39, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_962.json" + } + }, + { + "id": "maniskill_StackCube_out_740", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_740/frame_0046.jpg", + "maniskill/StackCube/images/episode_740/frame_0086.jpg", + "maniskill/StackCube/images/episode_740/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.317, 0.535]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.351, 0.542]). The trajectory involves 47 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_740", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 40, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_740.json" + } + }, + { + "id": "maniskill_StackCube_out_366", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_366/frame_0057.jpg", + "maniskill/StackCube/images/episode_366/frame_0110.jpg", + "maniskill/StackCube/images/episode_366/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.338, 0.612]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.516, 0.554]). The trajectory involves 71 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_366", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 53, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_366.json" + } + }, + { + "id": "maniskill_StackCube_out_701", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_701/frame_0037.jpg", + "maniskill/StackCube/images/episode_701/frame_0073.jpg", + "maniskill/StackCube/images/episode_701/frame_0079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.312, 0.484]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.348, 0.487]). The trajectory involves 43 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_701", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_701.json" + } + }, + { + "id": "maniskill_StackCube_out_476", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_476/frame_0053.jpg", + "maniskill/StackCube/images/episode_476/frame_0100.jpg", + "maniskill/StackCube/images/episode_476/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.520, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.376, 0.479]). The trajectory involves 65 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_476", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 47, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_476.json" + } + }, + { + "id": "maniskill_StackCube_out_99", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_99/frame_0047.jpg", + "maniskill/StackCube/images/episode_99/frame_0067.jpg", + "maniskill/StackCube/images/episode_99/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.310, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.294, 0.457]). The trajectory involves 55 precise waypoints with total movement distance of 0.108." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_99", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 20, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_99.json" + } + }, + { + "id": "maniskill_StackCube_out_229", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_229/frame_0054.jpg", + "maniskill/StackCube/images/episode_229/frame_0072.jpg", + "maniskill/StackCube/images/episode_229/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.532, 0.592]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.520, 0.602]). The trajectory involves 50 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_229", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 18, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_229.json" + } + }, + { + "id": "maniskill_StackCube_out_843", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_843/frame_0035.jpg", + "maniskill/StackCube/images/episode_843/frame_0076.jpg", + "maniskill/StackCube/images/episode_843/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.325, 0.469]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.474, 0.535]). The trajectory involves 54 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_843", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 41, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_843.json" + } + }, + { + "id": "maniskill_StackCube_out_645", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_645/frame_0057.jpg", + "maniskill/StackCube/images/episode_645/frame_0076.jpg", + "maniskill/StackCube/images/episode_645/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.487, 0.656]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.405, 0.451]). The trajectory involves 66 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_645", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 19, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_645.json" + } + }, + { + "id": "maniskill_StackCube_out_101", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_101/frame_0054.jpg", + "maniskill/StackCube/images/episode_101/frame_0074.jpg", + "maniskill/StackCube/images/episode_101/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.291, 0.609]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.352, 0.518]). The trajectory involves 57 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_101", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 20, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_101.json" + } + }, + { + "id": "maniskill_StackCube_out_416", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_416/frame_0043.jpg", + "maniskill/StackCube/images/episode_416/frame_0086.jpg", + "maniskill/StackCube/images/episode_416/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.636]). The trajectory involves 57 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_416", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 43, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_416.json" + } + }, + { + "id": "maniskill_StackCube_out_291", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_291/frame_0046.jpg", + "maniskill/StackCube/images/episode_291/frame_0091.jpg", + "maniskill/StackCube/images/episode_291/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.497, 0.715]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.385, 0.482]). The trajectory involves 62 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_291", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 45, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_291.json" + } + }, + { + "id": "maniskill_StackCube_out_404", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_404/frame_0071.jpg", + "maniskill/StackCube/images/episode_404/frame_0094.jpg", + "maniskill/StackCube/images/episode_404/frame_0141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.585, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.543, 0.543]). The trajectory involves 71 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_404", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 23, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_404.json" + } + }, + { + "id": "maniskill_StackCube_out_912", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_912/frame_0037.jpg", + "maniskill/StackCube/images/episode_912/frame_0077.jpg", + "maniskill/StackCube/images/episode_912/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.328, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.502]). The trajectory involves 50 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_912", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 40, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_912.json" + } + }, + { + "id": "maniskill_StackCube_out_941", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_941/frame_0045.jpg", + "maniskill/StackCube/images/episode_941/frame_0063.jpg", + "maniskill/StackCube/images/episode_941/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.422, 0.468]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.365, 0.492]). The trajectory involves 60 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_941", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_941.json" + } + }, + { + "id": "maniskill_StackCube_out_586", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_586/frame_0049.jpg", + "maniskill/StackCube/images/episode_586/frame_0068.jpg", + "maniskill/StackCube/images/episode_586/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.372, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.425, 0.444]). The trajectory involves 69 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_586", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 19, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_586.json" + } + }, + { + "id": "maniskill_StackCube_out_372", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_372/frame_0042.jpg", + "maniskill/StackCube/images/episode_372/frame_0082.jpg", + "maniskill/StackCube/images/episode_372/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.431, 0.571]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.540, 0.554]). The trajectory involves 53 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_372", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 40, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_372.json" + } + }, + { + "id": "maniskill_StackCube_out_583", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_583/frame_0047.jpg", + "maniskill/StackCube/images/episode_583/frame_0085.jpg", + "maniskill/StackCube/images/episode_583/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.415, 0.509]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.423, 0.522]). The trajectory involves 49 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_583", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 38, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_583.json" + } + }, + { + "id": "maniskill_StackCube_out_975", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_975/frame_0042.jpg", + "maniskill/StackCube/images/episode_975/frame_0060.jpg", + "maniskill/StackCube/images/episode_975/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.547, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.593]). The trajectory involves 61 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_975", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 18, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_975.json" + } + }, + { + "id": "maniskill_StackCube_out_484", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_484/frame_0045.jpg", + "maniskill/StackCube/images/episode_484/frame_0083.jpg", + "maniskill/StackCube/images/episode_484/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.518, 0.536]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.437, 0.476]). The trajectory involves 46 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_484", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 38, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_484.json" + } + }, + { + "id": "maniskill_StackCube_out_596", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_596/frame_0040.jpg", + "maniskill/StackCube/images/episode_596/frame_0080.jpg", + "maniskill/StackCube/images/episode_596/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.434, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.279, 0.445]). The trajectory involves 54 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_596", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 40, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_596.json" + } + }, + { + "id": "maniskill_StackCube_out_762", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_762/frame_0051.jpg", + "maniskill/StackCube/images/episode_762/frame_0069.jpg", + "maniskill/StackCube/images/episode_762/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.533, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.466]). The trajectory involves 63 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_762", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 18, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_762.json" + } + }, + { + "id": "maniskill_StackCube_out_54", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_54/frame_0048.jpg", + "maniskill/StackCube/images/episode_54/frame_0066.jpg", + "maniskill/StackCube/images/episode_54/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.387, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.294, 0.439]). The trajectory involves 62 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_54", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_54.json" + } + }, + { + "id": "maniskill_StackCube_out_248", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_248/frame_0045.jpg", + "maniskill/StackCube/images/episode_248/frame_0086.jpg", + "maniskill/StackCube/images/episode_248/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.355, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.450, 0.572]). The trajectory involves 52 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_248", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_248.json" + } + }, + { + "id": "maniskill_StackCube_out_132", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_132/frame_0045.jpg", + "maniskill/StackCube/images/episode_132/frame_0063.jpg", + "maniskill/StackCube/images/episode_132/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.314, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.272, 0.510]). The trajectory involves 63 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_132", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 18, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_132.json" + } + }, + { + "id": "maniskill_StackCube_out_616", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_616/frame_0046.jpg", + "maniskill/StackCube/images/episode_616/frame_0085.jpg", + "maniskill/StackCube/images/episode_616/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.456, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.325, 0.423]). The trajectory involves 55 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_616", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 39, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_616.json" + } + }, + { + "id": "maniskill_StackCube_out_309", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_309/frame_0054.jpg", + "maniskill/StackCube/images/episode_309/frame_0093.jpg", + "maniskill/StackCube/images/episode_309/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.544, 0.539]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.446]). The trajectory involves 48 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_309", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 39, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_309.json" + } + }, + { + "id": "maniskill_StackCube_out_823", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_823/frame_0046.jpg", + "maniskill/StackCube/images/episode_823/frame_0092.jpg", + "maniskill/StackCube/images/episode_823/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.302, 0.425]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.455, 0.467]). The trajectory involves 62 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_823", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 46, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_823.json" + } + }, + { + "id": "maniskill_StackCube_out_460", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_460/frame_0047.jpg", + "maniskill/StackCube/images/episode_460/frame_0094.jpg", + "maniskill/StackCube/images/episode_460/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.369, 0.456]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.583, 0.510]). The trajectory involves 67 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_460", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 47, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_460.json" + } + }, + { + "id": "maniskill_StackCube_out_424", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_424/frame_0039.jpg", + "maniskill/StackCube/images/episode_424/frame_0057.jpg", + "maniskill/StackCube/images/episode_424/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.357, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.403, 0.397]). The trajectory involves 76 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_424", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 18, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_424.json" + } + }, + { + "id": "maniskill_StackCube_out_634", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_634/frame_0051.jpg", + "maniskill/StackCube/images/episode_634/frame_0094.jpg", + "maniskill/StackCube/images/episode_634/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.435, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.514, 0.722]). The trajectory involves 59 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_634", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 43, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_634.json" + } + }, + { + "id": "maniskill_StackCube_out_563", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_563/frame_0037.jpg", + "maniskill/StackCube/images/episode_563/frame_0055.jpg", + "maniskill/StackCube/images/episode_563/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.328, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.441]). The trajectory involves 59 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_563", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_563.json" + } + }, + { + "id": "maniskill_StackCube_out_19", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_19/frame_0060.jpg", + "maniskill/StackCube/images/episode_19/frame_0111.jpg", + "maniskill/StackCube/images/episode_19/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.457, 0.454]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.552, 0.545]). The trajectory involves 61 precise waypoints with total movement distance of 0.268." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_19", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 51, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_19.json" + } + }, + { + "id": "maniskill_StackCube_out_405", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_405/frame_0043.jpg", + "maniskill/StackCube/images/episode_405/frame_0084.jpg", + "maniskill/StackCube/images/episode_405/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.382, 0.456]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.471, 0.503]). The trajectory involves 54 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_405", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 41, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_405.json" + } + }, + { + "id": "maniskill_StackCube_out_487", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_487/frame_0042.jpg", + "maniskill/StackCube/images/episode_487/frame_0083.jpg", + "maniskill/StackCube/images/episode_487/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.391, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.252, 0.429]). The trajectory involves 57 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_487", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 41, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_487.json" + } + }, + { + "id": "maniskill_StackCube_out_107", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_107/frame_0039.jpg", + "maniskill/StackCube/images/episode_107/frame_0057.jpg", + "maniskill/StackCube/images/episode_107/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.402, 0.485]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.404, 0.506]). The trajectory involves 50 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_107", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 18, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_107.json" + } + }, + { + "id": "maniskill_StackCube_out_905", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_905/frame_0056.jpg", + "maniskill/StackCube/images/episode_905/frame_0074.jpg", + "maniskill/StackCube/images/episode_905/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.303, 0.440]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.196, 0.480]). The trajectory involves 65 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_905", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 18, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_905.json" + } + }, + { + "id": "maniskill_StackCube_out_933", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_933/frame_0044.jpg", + "maniskill/StackCube/images/episode_933/frame_0062.jpg", + "maniskill/StackCube/images/episode_933/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.318, 0.444]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.384, 0.414]). The trajectory involves 50 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_933", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 18, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_933.json" + } + }, + { + "id": "maniskill_StackCube_out_930", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_930/frame_0040.jpg", + "maniskill/StackCube/images/episode_930/frame_0058.jpg", + "maniskill/StackCube/images/episode_930/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.496, 0.544]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.440, 0.451]). The trajectory involves 46 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_930", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_930.json" + } + }, + { + "id": "maniskill_StackCube_out_781", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_781/frame_0054.jpg", + "maniskill/StackCube/images/episode_781/frame_0073.jpg", + "maniskill/StackCube/images/episode_781/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.272, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.324, 0.437]). The trajectory involves 60 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_781", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 19, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_781.json" + } + }, + { + "id": "maniskill_StackCube_out_79", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_79/frame_0043.jpg", + "maniskill/StackCube/images/episode_79/frame_0062.jpg", + "maniskill/StackCube/images/episode_79/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.409, 0.578]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.372, 0.516]). The trajectory involves 47 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_79", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 19, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_79.json" + } + }, + { + "id": "maniskill_StackCube_out_117", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_117/frame_0052.jpg", + "maniskill/StackCube/images/episode_117/frame_0070.jpg", + "maniskill/StackCube/images/episode_117/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.451, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.350, 0.436]). The trajectory involves 54 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_117", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_117.json" + } + }, + { + "id": "maniskill_StackCube_out_114", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_114/frame_0043.jpg", + "maniskill/StackCube/images/episode_114/frame_0087.jpg", + "maniskill/StackCube/images/episode_114/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.559, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.334, 0.499]). The trajectory involves 62 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_114", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 44, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_114.json" + } + }, + { + "id": "maniskill_StackCube_out_887", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_887/frame_0048.jpg", + "maniskill/StackCube/images/episode_887/frame_0097.jpg", + "maniskill/StackCube/images/episode_887/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.241, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.368, 0.642]). The trajectory involves 65 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_887", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 49, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_887.json" + } + }, + { + "id": "maniskill_StackCube_out_523", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_523/frame_0044.jpg", + "maniskill/StackCube/images/episode_523/frame_0062.jpg", + "maniskill/StackCube/images/episode_523/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.312, 0.434]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.284, 0.477]). The trajectory involves 62 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_523", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_523.json" + } + }, + { + "id": "maniskill_StackCube_out_502", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_502/frame_0054.jpg", + "maniskill/StackCube/images/episode_502/frame_0072.jpg", + "maniskill/StackCube/images/episode_502/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.574, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.579, 0.490]). The trajectory involves 57 precise waypoints with total movement distance of 0.108." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_502", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_502.json" + } + }, + { + "id": "maniskill_StackCube_out_579", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_579/frame_0039.jpg", + "maniskill/StackCube/images/episode_579/frame_0076.jpg", + "maniskill/StackCube/images/episode_579/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.348, 0.462]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.439, 0.448]). The trajectory involves 47 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_579", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 37, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_579.json" + } + }, + { + "id": "maniskill_StackCube_out_162", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_162/frame_0044.jpg", + "maniskill/StackCube/images/episode_162/frame_0062.jpg", + "maniskill/StackCube/images/episode_162/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.448, 0.513]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.396, 0.476]). The trajectory involves 44 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_162", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_162.json" + } + }, + { + "id": "maniskill_StackCube_out_139", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_139/frame_0038.jpg", + "maniskill/StackCube/images/episode_139/frame_0056.jpg", + "maniskill/StackCube/images/episode_139/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.452, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.444]). The trajectory involves 69 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_139", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 18, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_139.json" + } + }, + { + "id": "maniskill_StackCube_out_207", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_207/frame_0035.jpg", + "maniskill/StackCube/images/episode_207/frame_0053.jpg", + "maniskill/StackCube/images/episode_207/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.462, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.572, 0.493]). The trajectory involves 61 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_207", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 18, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_207.json" + } + }, + { + "id": "maniskill_StackCube_out_364", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_364/frame_0047.jpg", + "maniskill/StackCube/images/episode_364/frame_0096.jpg", + "maniskill/StackCube/images/episode_364/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.577, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.317, 0.483]). The trajectory involves 68 precise waypoints with total movement distance of 0.374." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_364", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 49, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_364.json" + } + }, + { + "id": "maniskill_StackCube_out_474", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_474/frame_0045.jpg", + "maniskill/StackCube/images/episode_474/frame_0088.jpg", + "maniskill/StackCube/images/episode_474/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.402, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.347, 0.604]). The trajectory involves 59 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_474", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 43, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_474.json" + } + }, + { + "id": "maniskill_StackCube_out_186", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_186/frame_0039.jpg", + "maniskill/StackCube/images/episode_186/frame_0076.jpg", + "maniskill/StackCube/images/episode_186/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.393, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.484, 0.500]). The trajectory involves 51 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_186", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 37, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_186.json" + } + }, + { + "id": "maniskill_StackCube_out_718", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_718/frame_0041.jpg", + "maniskill/StackCube/images/episode_718/frame_0077.jpg", + "maniskill/StackCube/images/episode_718/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.338, 0.470]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.403, 0.449]). The trajectory involves 46 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_718", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 36, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_718.json" + } + }, + { + "id": "maniskill_StackCube_out_772", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_772/frame_0046.jpg", + "maniskill/StackCube/images/episode_772/frame_0088.jpg", + "maniskill/StackCube/images/episode_772/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.547, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.444, 0.584]). The trajectory involves 54 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_772", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 42, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_772.json" + } + }, + { + "id": "maniskill_StackCube_out_436", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_436/frame_0052.jpg", + "maniskill/StackCube/images/episode_436/frame_0093.jpg", + "maniskill/StackCube/images/episode_436/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.436, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.618, 0.575]). The trajectory involves 53 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_436", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 41, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_436.json" + } + }, + { + "id": "maniskill_StackCube_out_557", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_557/frame_0062.jpg", + "maniskill/StackCube/images/episode_557/frame_0080.jpg", + "maniskill/StackCube/images/episode_557/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.321, 0.421]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.283, 0.432]). The trajectory involves 61 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_557", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 18, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_557.json" + } + }, + { + "id": "maniskill_StackCube_out_848", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_848/frame_0036.jpg", + "maniskill/StackCube/images/episode_848/frame_0084.jpg", + "maniskill/StackCube/images/episode_848/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.333, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.599, 0.550]). The trajectory involves 66 precise waypoints with total movement distance of 0.379." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_848", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 48, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_848.json" + } + }, + { + "id": "maniskill_StackCube_out_142", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_142/frame_0037.jpg", + "maniskill/StackCube/images/episode_142/frame_0055.jpg", + "maniskill/StackCube/images/episode_142/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.420, 0.537]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.431, 0.470]). The trajectory involves 48 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_142", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_142.json" + } + }, + { + "id": "maniskill_StackCube_out_146", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_146/frame_0041.jpg", + "maniskill/StackCube/images/episode_146/frame_0060.jpg", + "maniskill/StackCube/images/episode_146/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.345, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.477]). The trajectory involves 64 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_146", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 19, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_146.json" + } + }, + { + "id": "maniskill_StackCube_out_738", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_738/frame_0044.jpg", + "maniskill/StackCube/images/episode_738/frame_0082.jpg", + "maniskill/StackCube/images/episode_738/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.452, 0.485]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.536, 0.519]). The trajectory involves 46 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_738", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 38, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_738.json" + } + }, + { + "id": "maniskill_StackCube_out_965", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_965/frame_0056.jpg", + "maniskill/StackCube/images/episode_965/frame_0076.jpg", + "maniskill/StackCube/images/episode_965/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.334, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.288, 0.457]). The trajectory involves 58 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_965", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 20, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_965.json" + } + }, + { + "id": "maniskill_StackCube_out_827", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_827/frame_0048.jpg", + "maniskill/StackCube/images/episode_827/frame_0087.jpg", + "maniskill/StackCube/images/episode_827/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.426, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.532]). The trajectory involves 52 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_827", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 39, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_827.json" + } + }, + { + "id": "maniskill_StackCube_out_695", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_695/frame_0040.jpg", + "maniskill/StackCube/images/episode_695/frame_0084.jpg", + "maniskill/StackCube/images/episode_695/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.355, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.544, 0.607]). The trajectory involves 57 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_695", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 44, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_695.json" + } + }, + { + "id": "maniskill_StackCube_out_681", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_681/frame_0049.jpg", + "maniskill/StackCube/images/episode_681/frame_0090.jpg", + "maniskill/StackCube/images/episode_681/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.368, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.250, 0.518]). The trajectory involves 52 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_681", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_681.json" + } + }, + { + "id": "maniskill_StackCube_out_783", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_783/frame_0046.jpg", + "maniskill/StackCube/images/episode_783/frame_0095.jpg", + "maniskill/StackCube/images/episode_783/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.361, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.589]). The trajectory involves 66 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_783", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 49, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_783.json" + } + }, + { + "id": "maniskill_StackCube_out_382", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_382/frame_0037.jpg", + "maniskill/StackCube/images/episode_382/frame_0077.jpg", + "maniskill/StackCube/images/episode_382/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.438, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.318, 0.416]). The trajectory involves 56 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_382", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 40, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_382.json" + } + }, + { + "id": "maniskill_StackCube_out_901", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_901/frame_0043.jpg", + "maniskill/StackCube/images/episode_901/frame_0061.jpg", + "maniskill/StackCube/images/episode_901/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.469]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.376, 0.401]). The trajectory involves 60 precise waypoints with total movement distance of 0.104." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_901", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_901.json" + } + }, + { + "id": "maniskill_StackCube_out_691", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_691/frame_0034.jpg", + "maniskill/StackCube/images/episode_691/frame_0052.jpg", + "maniskill/StackCube/images/episode_691/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.355, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.300, 0.402]). The trajectory involves 59 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_691", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_691.json" + } + }, + { + "id": "maniskill_StackCube_out_227", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_227/frame_0041.jpg", + "maniskill/StackCube/images/episode_227/frame_0091.jpg", + "maniskill/StackCube/images/episode_227/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.356, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.541, 0.649]). The trajectory involves 63 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_227", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 50, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_227.json" + } + }, + { + "id": "maniskill_StackCube_out_442", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_442/frame_0043.jpg", + "maniskill/StackCube/images/episode_442/frame_0062.jpg", + "maniskill/StackCube/images/episode_442/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.317, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.404, 0.453]). The trajectory involves 64 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_442", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 19, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_442.json" + } + }, + { + "id": "maniskill_StackCube_out_565", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_565/frame_0044.jpg", + "maniskill/StackCube/images/episode_565/frame_0087.jpg", + "maniskill/StackCube/images/episode_565/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.438, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.521, 0.587]). The trajectory involves 54 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_565", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 43, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_565.json" + } + }, + { + "id": "maniskill_StackCube_out_778", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_778/frame_0036.jpg", + "maniskill/StackCube/images/episode_778/frame_0081.jpg", + "maniskill/StackCube/images/episode_778/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.334, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.547]). The trajectory involves 58 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_778", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 45, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_778.json" + } + }, + { + "id": "maniskill_StackCube_out_155", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_155/frame_0038.jpg", + "maniskill/StackCube/images/episode_155/frame_0056.jpg", + "maniskill/StackCube/images/episode_155/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.308, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.285, 0.477]). The trajectory involves 57 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_155", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_155.json" + } + }, + { + "id": "maniskill_StackCube_out_815", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_815/frame_0055.jpg", + "maniskill/StackCube/images/episode_815/frame_0100.jpg", + "maniskill/StackCube/images/episode_815/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.297, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.412, 0.528]). The trajectory involves 57 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_815", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 45, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_815.json" + } + }, + { + "id": "maniskill_StackCube_out_3", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_3/frame_0042.jpg", + "maniskill/StackCube/images/episode_3/frame_0088.jpg", + "maniskill/StackCube/images/episode_3/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.534, 0.749]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.364, 0.507]). The trajectory involves 62 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_3", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 46, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_3.json" + } + }, + { + "id": "maniskill_StackCube_out_742", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_742/frame_0051.jpg", + "maniskill/StackCube/images/episode_742/frame_0098.jpg", + "maniskill/StackCube/images/episode_742/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.262, 0.444]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.478, 0.497]). The trajectory involves 62 precise waypoints with total movement distance of 0.336." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_742", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 47, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_742.json" + } + }, + { + "id": "maniskill_StackCube_out_403", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_403/frame_0037.jpg", + "maniskill/StackCube/images/episode_403/frame_0079.jpg", + "maniskill/StackCube/images/episode_403/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.306, 0.505]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.343, 0.512]). The trajectory involves 49 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_403", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 42, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_403.json" + } + }, + { + "id": "maniskill_StackCube_out_654", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_654/frame_0044.jpg", + "maniskill/StackCube/images/episode_654/frame_0062.jpg", + "maniskill/StackCube/images/episode_654/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.394, 0.468]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.366, 0.422]). The trajectory involves 44 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_654", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_654.json" + } + }, + { + "id": "maniskill_StackCube_out_129", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_129/frame_0045.jpg", + "maniskill/StackCube/images/episode_129/frame_0090.jpg", + "maniskill/StackCube/images/episode_129/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.535, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.355, 0.461]). The trajectory involves 61 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_129", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 45, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_129.json" + } + }, + { + "id": "maniskill_StackCube_out_883", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_883/frame_0038.jpg", + "maniskill/StackCube/images/episode_883/frame_0073.jpg", + "maniskill/StackCube/images/episode_883/frame_0079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.456, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.398, 0.473]). The trajectory involves 42 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_883", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 35, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_883.json" + } + }, + { + "id": "maniskill_StackCube_out_862", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_862/frame_0056.jpg", + "maniskill/StackCube/images/episode_862/frame_0074.jpg", + "maniskill/StackCube/images/episode_862/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.309, 0.458]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.308, 0.406]). The trajectory involves 48 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_862", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_862.json" + } + }, + { + "id": "maniskill_StackCube_out_693", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_693/frame_0047.jpg", + "maniskill/StackCube/images/episode_693/frame_0090.jpg", + "maniskill/StackCube/images/episode_693/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.439, 0.655]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.357, 0.479]). The trajectory involves 62 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_693", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 43, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_693.json" + } + }, + { + "id": "maniskill_StackCube_out_782", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_782/frame_0048.jpg", + "maniskill/StackCube/images/episode_782/frame_0066.jpg", + "maniskill/StackCube/images/episode_782/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.464, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.483]). The trajectory involves 55 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_782", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_782.json" + } + }, + { + "id": "maniskill_StackCube_out_547", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_547/frame_0058.jpg", + "maniskill/StackCube/images/episode_547/frame_0104.jpg", + "maniskill/StackCube/images/episode_547/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.264, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.366, 0.450]). The trajectory involves 60 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_547", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 46, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_547.json" + } + }, + { + "id": "maniskill_StackCube_out_714", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_714/frame_0042.jpg", + "maniskill/StackCube/images/episode_714/frame_0060.jpg", + "maniskill/StackCube/images/episode_714/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.511, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.425, 0.514]). The trajectory involves 59 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_714", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_714.json" + } + }, + { + "id": "maniskill_StackCube_out_828", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_828/frame_0053.jpg", + "maniskill/StackCube/images/episode_828/frame_0071.jpg", + "maniskill/StackCube/images/episode_828/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.300, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.314, 0.433]). The trajectory involves 51 precise waypoints with total movement distance of 0.104." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_828", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_828.json" + } + }, + { + "id": "maniskill_StackCube_out_69", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_69/frame_0056.jpg", + "maniskill/StackCube/images/episode_69/frame_0074.jpg", + "maniskill/StackCube/images/episode_69/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.456, 0.589]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.522, 0.542]). The trajectory involves 50 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_69", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 18, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_69.json" + } + }, + { + "id": "maniskill_StackCube_out_727", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_727/frame_0053.jpg", + "maniskill/StackCube/images/episode_727/frame_0071.jpg", + "maniskill/StackCube/images/episode_727/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.516, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.436, 0.479]). The trajectory involves 60 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_727", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_727.json" + } + }, + { + "id": "maniskill_StackCube_out_720", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_720/frame_0044.jpg", + "maniskill/StackCube/images/episode_720/frame_0092.jpg", + "maniskill/StackCube/images/episode_720/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.480, 0.503]). The trajectory involves 66 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_720", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 48, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_720.json" + } + }, + { + "id": "maniskill_StackCube_out_830", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_830/frame_0042.jpg", + "maniskill/StackCube/images/episode_830/frame_0082.jpg", + "maniskill/StackCube/images/episode_830/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.505, 0.525]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.440]). The trajectory involves 52 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_830", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_830.json" + } + }, + { + "id": "maniskill_StackCube_out_898", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_898/frame_0037.jpg", + "maniskill/StackCube/images/episode_898/frame_0082.jpg", + "maniskill/StackCube/images/episode_898/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.336, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.482, 0.636]). The trajectory involves 59 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_898", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_898.json" + } + }, + { + "id": "maniskill_StackCube_out_978", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_978/frame_0041.jpg", + "maniskill/StackCube/images/episode_978/frame_0086.jpg", + "maniskill/StackCube/images/episode_978/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.461]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.544, 0.563]). The trajectory involves 62 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_978", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 45, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_978.json" + } + }, + { + "id": "maniskill_StackCube_out_7", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_7/frame_0047.jpg", + "maniskill/StackCube/images/episode_7/frame_0086.jpg", + "maniskill/StackCube/images/episode_7/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.414, 0.502]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.434, 0.544]). The trajectory involves 50 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_7", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_7.json" + } + }, + { + "id": "maniskill_StackCube_out_328", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_328/frame_0036.jpg", + "maniskill/StackCube/images/episode_328/frame_0082.jpg", + "maniskill/StackCube/images/episode_328/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.368, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.372, 0.601]). The trajectory involves 59 precise waypoints with total movement distance of 0.268." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_328", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 46, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_328.json" + } + }, + { + "id": "maniskill_StackCube_out_489", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_489/frame_0048.jpg", + "maniskill/StackCube/images/episode_489/frame_0066.jpg", + "maniskill/StackCube/images/episode_489/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.454, 0.472]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.371, 0.491]). The trajectory involves 67 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_489", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_489.json" + } + }, + { + "id": "maniskill_StackCube_out_679", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_679/frame_0042.jpg", + "maniskill/StackCube/images/episode_679/frame_0087.jpg", + "maniskill/StackCube/images/episode_679/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.424, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.632]). The trajectory involves 55 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_679", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 45, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_679.json" + } + }, + { + "id": "maniskill_StackCube_out_670", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_670/frame_0041.jpg", + "maniskill/StackCube/images/episode_670/frame_0087.jpg", + "maniskill/StackCube/images/episode_670/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.396, 0.593]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.514, 0.748]). The trajectory involves 61 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_670", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 46, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_670.json" + } + }, + { + "id": "maniskill_StackCube_out_923", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_923/frame_0038.jpg", + "maniskill/StackCube/images/episode_923/frame_0056.jpg", + "maniskill/StackCube/images/episode_923/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.453, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.457, 0.479]). The trajectory involves 53 precise waypoints with total movement distance of 0.087." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_923", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_923.json" + } + }, + { + "id": "maniskill_StackCube_out_510", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_510/frame_0052.jpg", + "maniskill/StackCube/images/episode_510/frame_0090.jpg", + "maniskill/StackCube/images/episode_510/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.383, 0.488]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.475, 0.473]). The trajectory involves 49 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_510", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 38, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_510.json" + } + }, + { + "id": "maniskill_StackCube_out_972", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_972/frame_0052.jpg", + "maniskill/StackCube/images/episode_972/frame_0097.jpg", + "maniskill/StackCube/images/episode_972/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.429, 0.460]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.271, 0.428]). The trajectory involves 63 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_972", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 45, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_972.json" + } + }, + { + "id": "maniskill_StackCube_out_376", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_376/frame_0043.jpg", + "maniskill/StackCube/images/episode_376/frame_0061.jpg", + "maniskill/StackCube/images/episode_376/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.445, 0.492]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.396, 0.441]). The trajectory involves 45 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_376", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 18, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_376.json" + } + }, + { + "id": "maniskill_StackCube_out_245", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_245/frame_0043.jpg", + "maniskill/StackCube/images/episode_245/frame_0090.jpg", + "maniskill/StackCube/images/episode_245/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.413, 0.591]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.270, 0.498]). The trajectory involves 62 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_245", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 47, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_245.json" + } + }, + { + "id": "maniskill_StackCube_out_390", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_390/frame_0036.jpg", + "maniskill/StackCube/images/episode_390/frame_0054.jpg", + "maniskill/StackCube/images/episode_390/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.370, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.476]). The trajectory involves 66 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_390", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 18, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_390.json" + } + }, + { + "id": "maniskill_StackCube_out_86", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_86/frame_0064.jpg", + "maniskill/StackCube/images/episode_86/frame_0108.jpg", + "maniskill/StackCube/images/episode_86/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.224, 0.481]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.389, 0.558]). The trajectory involves 61 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_86", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 44, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_86.json" + } + }, + { + "id": "maniskill_StackCube_out_996", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_996/frame_0052.jpg", + "maniskill/StackCube/images/episode_996/frame_0092.jpg", + "maniskill/StackCube/images/episode_996/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.372, 0.621]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.441, 0.641]). The trajectory involves 49 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_996", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 40, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_996.json" + } + }, + { + "id": "maniskill_StackCube_out_232", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_232/frame_0057.jpg", + "maniskill/StackCube/images/episode_232/frame_0075.jpg", + "maniskill/StackCube/images/episode_232/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.531, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.510]). The trajectory involves 71 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_232", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 18, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_232.json" + } + }, + { + "id": "maniskill_StackCube_out_385", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_385/frame_0035.jpg", + "maniskill/StackCube/images/episode_385/frame_0053.jpg", + "maniskill/StackCube/images/episode_385/frame_0081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.468, 0.553]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.388, 0.460]). The trajectory involves 47 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_385", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 18, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_385.json" + } + }, + { + "id": "maniskill_StackCube_out_947", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_947/frame_0056.jpg", + "maniskill/StackCube/images/episode_947/frame_0101.jpg", + "maniskill/StackCube/images/episode_947/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.265, 0.471]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.372, 0.560]). The trajectory involves 59 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_947", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_947.json" + } + }, + { + "id": "maniskill_StackCube_out_963", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_963/frame_0066.jpg", + "maniskill/StackCube/images/episode_963/frame_0083.jpg", + "maniskill/StackCube/images/episode_963/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.556, 0.562]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.416]). The trajectory involves 65 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_963", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 17, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_963.json" + } + }, + { + "id": "maniskill_StackCube_out_391", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_391/frame_0059.jpg", + "maniskill/StackCube/images/episode_391/frame_0105.jpg", + "maniskill/StackCube/images/episode_391/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.575, 0.621]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.340, 0.550]). The trajectory involves 64 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_391", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 46, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_391.json" + } + }, + { + "id": "maniskill_StackCube_out_664", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_664/frame_0055.jpg", + "maniskill/StackCube/images/episode_664/frame_0074.jpg", + "maniskill/StackCube/images/episode_664/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.399, 0.433]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.433, 0.444]). The trajectory involves 54 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_664", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 19, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_664.json" + } + }, + { + "id": "maniskill_StackCube_out_259", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_259/frame_0037.jpg", + "maniskill/StackCube/images/episode_259/frame_0055.jpg", + "maniskill/StackCube/images/episode_259/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.462, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.421, 0.541]). The trajectory involves 52 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_259", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_259.json" + } + }, + { + "id": "maniskill_StackCube_out_721", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_721/frame_0051.jpg", + "maniskill/StackCube/images/episode_721/frame_0103.jpg", + "maniskill/StackCube/images/episode_721/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.310, 0.434]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.363, 0.556]). The trajectory involves 66 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_721", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 52, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_721.json" + } + }, + { + "id": "maniskill_StackCube_out_346", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_346/frame_0038.jpg", + "maniskill/StackCube/images/episode_346/frame_0056.jpg", + "maniskill/StackCube/images/episode_346/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.565, 0.631]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.484, 0.594]). The trajectory involves 51 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_346", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_346.json" + } + }, + { + "id": "maniskill_StackCube_out_805", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_805/frame_0045.jpg", + "maniskill/StackCube/images/episode_805/frame_0088.jpg", + "maniskill/StackCube/images/episode_805/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.286, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.375, 0.491]). The trajectory involves 52 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_805", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 43, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_805.json" + } + }, + { + "id": "maniskill_StackCube_out_914", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_914/frame_0044.jpg", + "maniskill/StackCube/images/episode_914/frame_0086.jpg", + "maniskill/StackCube/images/episode_914/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.450, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.314, 0.456]). The trajectory involves 54 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_914", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 42, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_914.json" + } + }, + { + "id": "maniskill_StackCube_out_8", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_8/frame_0053.jpg", + "maniskill/StackCube/images/episode_8/frame_0071.jpg", + "maniskill/StackCube/images/episode_8/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.447, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.345, 0.442]). The trajectory involves 52 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_8", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_8.json" + } + }, + { + "id": "maniskill_StackCube_out_240", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_240/frame_0045.jpg", + "maniskill/StackCube/images/episode_240/frame_0063.jpg", + "maniskill/StackCube/images/episode_240/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.407, 0.476]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.356, 0.406]). The trajectory involves 49 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_240", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_240.json" + } + }, + { + "id": "maniskill_StackCube_out_723", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_723/frame_0044.jpg", + "maniskill/StackCube/images/episode_723/frame_0064.jpg", + "maniskill/StackCube/images/episode_723/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.332, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.433, 0.476]). The trajectory involves 63 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_723", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 20, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_723.json" + } + }, + { + "id": "maniskill_StackCube_out_587", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_587/frame_0053.jpg", + "maniskill/StackCube/images/episode_587/frame_0093.jpg", + "maniskill/StackCube/images/episode_587/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.320, 0.465]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.459]). The trajectory involves 52 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_587", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_587.json" + } + }, + { + "id": "maniskill_StackCube_out_332", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_332/frame_0041.jpg", + "maniskill/StackCube/images/episode_332/frame_0080.jpg", + "maniskill/StackCube/images/episode_332/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.451, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.335, 0.441]). The trajectory involves 50 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_332", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_332.json" + } + }, + { + "id": "maniskill_StackCube_out_500", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_500/frame_0047.jpg", + "maniskill/StackCube/images/episode_500/frame_0092.jpg", + "maniskill/StackCube/images/episode_500/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.320, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.510]). The trajectory involves 57 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_500", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 45, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_500.json" + } + }, + { + "id": "maniskill_StackCube_out_649", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_649/frame_0040.jpg", + "maniskill/StackCube/images/episode_649/frame_0083.jpg", + "maniskill/StackCube/images/episode_649/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.526, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.310, 0.462]). The trajectory involves 59 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_649", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 43, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_649.json" + } + }, + { + "id": "maniskill_StackCube_out_504", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_504/frame_0055.jpg", + "maniskill/StackCube/images/episode_504/frame_0075.jpg", + "maniskill/StackCube/images/episode_504/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.260, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.290, 0.444]). The trajectory involves 58 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_504", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 20, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_504.json" + } + }, + { + "id": "maniskill_StackCube_out_662", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_662/frame_0049.jpg", + "maniskill/StackCube/images/episode_662/frame_0085.jpg", + "maniskill/StackCube/images/episode_662/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.303, 0.485]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.353, 0.472]). The trajectory involves 44 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_662", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 36, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_662.json" + } + }, + { + "id": "maniskill_StackCube_out_284", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_284/frame_0049.jpg", + "maniskill/StackCube/images/episode_284/frame_0067.jpg", + "maniskill/StackCube/images/episode_284/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.403, 0.549]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.476]). The trajectory involves 48 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_284", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_284.json" + } + }, + { + "id": "maniskill_StackCube_out_272", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_272/frame_0064.jpg", + "maniskill/StackCube/images/episode_272/frame_0083.jpg", + "maniskill/StackCube/images/episode_272/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.230, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.291, 0.419]). The trajectory involves 66 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_272", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 19, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_272.json" + } + }, + { + "id": "maniskill_StackCube_out_976", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_976/frame_0049.jpg", + "maniskill/StackCube/images/episode_976/frame_0092.jpg", + "maniskill/StackCube/images/episode_976/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.252, 0.572]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.336, 0.518]). The trajectory involves 54 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_976", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 43, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_976.json" + } + }, + { + "id": "maniskill_StackCube_out_174", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_174/frame_0036.jpg", + "maniskill/StackCube/images/episode_174/frame_0071.jpg", + "maniskill/StackCube/images/episode_174/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.532, 0.654]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.587, 0.673]). The trajectory involves 43 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_174", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 35, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_174.json" + } + }, + { + "id": "maniskill_StackCube_out_289", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_289/frame_0040.jpg", + "maniskill/StackCube/images/episode_289/frame_0058.jpg", + "maniskill/StackCube/images/episode_289/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.370, 0.472]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.330, 0.401]). The trajectory involves 53 precise waypoints with total movement distance of 0.111." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_289", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_289.json" + } + }, + { + "id": "maniskill_StackCube_out_529", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_529/frame_0038.jpg", + "maniskill/StackCube/images/episode_529/frame_0077.jpg", + "maniskill/StackCube/images/episode_529/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.455, 0.541]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.337, 0.459]). The trajectory involves 50 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_529", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_529.json" + } + }, + { + "id": "maniskill_StackCube_out_433", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_433/frame_0052.jpg", + "maniskill/StackCube/images/episode_433/frame_0099.jpg", + "maniskill/StackCube/images/episode_433/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.245, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.360, 0.532]). The trajectory involves 59 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_433", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 47, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_433.json" + } + }, + { + "id": "maniskill_StackCube_out_184", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_184/frame_0036.jpg", + "maniskill/StackCube/images/episode_184/frame_0054.jpg", + "maniskill/StackCube/images/episode_184/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.477, 0.572]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.405, 0.479]). The trajectory involves 48 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_184", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_184.json" + } + }, + { + "id": "maniskill_StackCube_out_551", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_551/frame_0042.jpg", + "maniskill/StackCube/images/episode_551/frame_0060.jpg", + "maniskill/StackCube/images/episode_551/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.394, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.373, 0.409]). The trajectory involves 53 precise waypoints with total movement distance of 0.104." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_551", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_551.json" + } + }, + { + "id": "maniskill_StackCube_out_104", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_104/frame_0053.jpg", + "maniskill/StackCube/images/episode_104/frame_0097.jpg", + "maniskill/StackCube/images/episode_104/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.401, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.546, 0.512]). The trajectory involves 61 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_104", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 44, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_104.json" + } + }, + { + "id": "maniskill_StackCube_out_949", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_949/frame_0046.jpg", + "maniskill/StackCube/images/episode_949/frame_0084.jpg", + "maniskill/StackCube/images/episode_949/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.400, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.297, 0.480]). The trajectory involves 53 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_949", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 38, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_949.json" + } + }, + { + "id": "maniskill_StackCube_out_196", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_196/frame_0041.jpg", + "maniskill/StackCube/images/episode_196/frame_0080.jpg", + "maniskill/StackCube/images/episode_196/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.468, 0.626]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.360, 0.526]). The trajectory involves 52 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_196", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 39, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_196.json" + } + }, + { + "id": "maniskill_StackCube_out_65", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_65/frame_0037.jpg", + "maniskill/StackCube/images/episode_65/frame_0056.jpg", + "maniskill/StackCube/images/episode_65/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.416, 0.571]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.431, 0.463]). The trajectory involves 57 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_65", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 19, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_65.json" + } + }, + { + "id": "maniskill_StackCube_out_230", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_230/frame_0045.jpg", + "maniskill/StackCube/images/episode_230/frame_0083.jpg", + "maniskill/StackCube/images/episode_230/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.497, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.390, 0.431]). The trajectory involves 53 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_230", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 38, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_230.json" + } + }, + { + "id": "maniskill_StackCube_out_197", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_197/frame_0045.jpg", + "maniskill/StackCube/images/episode_197/frame_0063.jpg", + "maniskill/StackCube/images/episode_197/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.311, 0.466]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.277, 0.465]). The trajectory involves 49 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_197", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_197.json" + } + }, + { + "id": "maniskill_StackCube_out_921", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_921/frame_0053.jpg", + "maniskill/StackCube/images/episode_921/frame_0094.jpg", + "maniskill/StackCube/images/episode_921/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.310, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.566]). The trajectory involves 52 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_921", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_921.json" + } + }, + { + "id": "maniskill_StackCube_out_381", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_381/frame_0041.jpg", + "maniskill/StackCube/images/episode_381/frame_0059.jpg", + "maniskill/StackCube/images/episode_381/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.589, 0.602]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.586, 0.610]). The trajectory involves 50 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_381", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 18, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_381.json" + } + }, + { + "id": "maniskill_StackCube_out_128", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_128/frame_0039.jpg", + "maniskill/StackCube/images/episode_128/frame_0079.jpg", + "maniskill/StackCube/images/episode_128/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.450, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.554, 0.618]). The trajectory involves 51 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_128", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_128.json" + } + }, + { + "id": "maniskill_StackCube_out_958", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_958/frame_0044.jpg", + "maniskill/StackCube/images/episode_958/frame_0062.jpg", + "maniskill/StackCube/images/episode_958/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.437, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.411, 0.521]). The trajectory involves 54 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_958", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_958.json" + } + }, + { + "id": "maniskill_StackCube_out_560", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_560/frame_0041.jpg", + "maniskill/StackCube/images/episode_560/frame_0082.jpg", + "maniskill/StackCube/images/episode_560/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.439, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.274, 0.426]). The trajectory involves 55 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_560", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 41, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_560.json" + } + }, + { + "id": "maniskill_StackCube_out_508", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_508/frame_0052.jpg", + "maniskill/StackCube/images/episode_508/frame_0070.jpg", + "maniskill/StackCube/images/episode_508/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.463, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.514, 0.511]). The trajectory involves 57 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_508", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_508.json" + } + }, + { + "id": "maniskill_StackCube_out_788", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_788/frame_0037.jpg", + "maniskill/StackCube/images/episode_788/frame_0078.jpg", + "maniskill/StackCube/images/episode_788/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.341, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.544]). The trajectory involves 56 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_788", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 41, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_788.json" + } + }, + { + "id": "maniskill_StackCube_out_836", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_836/frame_0041.jpg", + "maniskill/StackCube/images/episode_836/frame_0059.jpg", + "maniskill/StackCube/images/episode_836/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.376, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.505, 0.461]). The trajectory involves 67 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_836", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_836.json" + } + }, + { + "id": "maniskill_StackCube_out_735", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_735/frame_0045.jpg", + "maniskill/StackCube/images/episode_735/frame_0089.jpg", + "maniskill/StackCube/images/episode_735/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.348, 0.472]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.534, 0.586]). The trajectory involves 61 precise waypoints with total movement distance of 0.347." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_735", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 44, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_735.json" + } + }, + { + "id": "maniskill_StackCube_out_143", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_143/frame_0053.jpg", + "maniskill/StackCube/images/episode_143/frame_0071.jpg", + "maniskill/StackCube/images/episode_143/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.508, 0.598]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.393, 0.406]). The trajectory involves 67 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_143", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_143.json" + } + }, + { + "id": "maniskill_StackCube_out_908", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_908/frame_0053.jpg", + "maniskill/StackCube/images/episode_908/frame_0071.jpg", + "maniskill/StackCube/images/episode_908/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.509, 0.603]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.484, 0.466]). The trajectory involves 57 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_908", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_908.json" + } + }, + { + "id": "maniskill_StackCube_out_475", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_475/frame_0043.jpg", + "maniskill/StackCube/images/episode_475/frame_0062.jpg", + "maniskill/StackCube/images/episode_475/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.388, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.347, 0.481]). The trajectory involves 52 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_475", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 19, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_475.json" + } + }, + { + "id": "maniskill_StackCube_out_944", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_944/frame_0049.jpg", + "maniskill/StackCube/images/episode_944/frame_0092.jpg", + "maniskill/StackCube/images/episode_944/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.192, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.345, 0.456]). The trajectory involves 58 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_944", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 43, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_944.json" + } + }, + { + "id": "maniskill_StackCube_out_849", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_849/frame_0035.jpg", + "maniskill/StackCube/images/episode_849/frame_0053.jpg", + "maniskill/StackCube/images/episode_849/frame_0081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.381, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.330, 0.470]). The trajectory involves 47 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_849", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 18, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_849.json" + } + }, + { + "id": "maniskill_StackCube_out_420", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_420/frame_0054.jpg", + "maniskill/StackCube/images/episode_420/frame_0096.jpg", + "maniskill/StackCube/images/episode_420/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.353, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.505, 0.536]). The trajectory involves 57 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_420", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 42, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_420.json" + } + }, + { + "id": "maniskill_StackCube_out_796", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_796/frame_0039.jpg", + "maniskill/StackCube/images/episode_796/frame_0057.jpg", + "maniskill/StackCube/images/episode_796/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.510, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.465]). The trajectory involves 59 precise waypoints with total movement distance of 0.110." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_796", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_796.json" + } + }, + { + "id": "maniskill_StackCube_out_458", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_458/frame_0040.jpg", + "maniskill/StackCube/images/episode_458/frame_0058.jpg", + "maniskill/StackCube/images/episode_458/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.387, 0.469]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.488, 0.448]). The trajectory involves 61 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_458", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 18, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_458.json" + } + }, + { + "id": "maniskill_StackCube_out_481", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_481/frame_0046.jpg", + "maniskill/StackCube/images/episode_481/frame_0081.jpg", + "maniskill/StackCube/images/episode_481/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.423, 0.532]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.468, 0.539]). The trajectory involves 44 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_481", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 35, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_481.json" + } + }, + { + "id": "maniskill_StackCube_out_222", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_222/frame_0053.jpg", + "maniskill/StackCube/images/episode_222/frame_0071.jpg", + "maniskill/StackCube/images/episode_222/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.398, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.346, 0.487]). The trajectory involves 53 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_222", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_222.json" + } + }, + { + "id": "maniskill_StackCube_out_387", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_387/frame_0058.jpg", + "maniskill/StackCube/images/episode_387/frame_0105.jpg", + "maniskill/StackCube/images/episode_387/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.369, 0.677]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.311, 0.467]). The trajectory involves 67 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_387", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 47, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_387.json" + } + }, + { + "id": "maniskill_StackCube_out_647", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_647/frame_0048.jpg", + "maniskill/StackCube/images/episode_647/frame_0068.jpg", + "maniskill/StackCube/images/episode_647/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.279, 0.538]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.248, 0.471]). The trajectory involves 49 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_647", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 20, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_647.json" + } + }, + { + "id": "maniskill_StackCube_out_337", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_337/frame_0038.jpg", + "maniskill/StackCube/images/episode_337/frame_0056.jpg", + "maniskill/StackCube/images/episode_337/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.474, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.445]). The trajectory involves 63 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_337", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 18, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_337.json" + } + }, + { + "id": "maniskill_StackCube_out_208", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_208/frame_0048.jpg", + "maniskill/StackCube/images/episode_208/frame_0067.jpg", + "maniskill/StackCube/images/episode_208/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.356, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.446, 0.485]). The trajectory involves 63 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_208", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 19, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_208.json" + } + }, + { + "id": "maniskill_StackCube_out_885", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_885/frame_0040.jpg", + "maniskill/StackCube/images/episode_885/frame_0059.jpg", + "maniskill/StackCube/images/episode_885/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.366, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.299, 0.486]). The trajectory involves 51 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_885", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 19, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_885.json" + } + }, + { + "id": "maniskill_StackCube_out_498", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_498/frame_0039.jpg", + "maniskill/StackCube/images/episode_498/frame_0079.jpg", + "maniskill/StackCube/images/episode_498/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.398, 0.490]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.510, 0.543]). The trajectory involves 50 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_498", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 40, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_498.json" + } + }, + { + "id": "maniskill_StackCube_out_946", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_946/frame_0036.jpg", + "maniskill/StackCube/images/episode_946/frame_0054.jpg", + "maniskill/StackCube/images/episode_946/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.531, 0.581]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.495, 0.621]). The trajectory involves 53 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_946", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_946.json" + } + }, + { + "id": "maniskill_StackCube_out_640", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_640/frame_0038.jpg", + "maniskill/StackCube/images/episode_640/frame_0079.jpg", + "maniskill/StackCube/images/episode_640/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.487, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.611]). The trajectory involves 57 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_640", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 41, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_640.json" + } + }, + { + "id": "maniskill_StackCube_out_864", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_864/frame_0038.jpg", + "maniskill/StackCube/images/episode_864/frame_0075.jpg", + "maniskill/StackCube/images/episode_864/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.397, 0.541]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.427, 0.573]). The trajectory involves 46 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_864", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 37, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_864.json" + } + }, + { + "id": "maniskill_StackCube_out_133", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_133/frame_0052.jpg", + "maniskill/StackCube/images/episode_133/frame_0098.jpg", + "maniskill/StackCube/images/episode_133/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.367, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.444, 0.571]). The trajectory involves 59 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_133", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 46, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_133.json" + } + }, + { + "id": "maniskill_StackCube_out_791", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_791/frame_0036.jpg", + "maniskill/StackCube/images/episode_791/frame_0054.jpg", + "maniskill/StackCube/images/episode_791/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.410, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.481, 0.462]). The trajectory involves 53 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_791", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_791.json" + } + }, + { + "id": "maniskill_StackCube_out_413", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_413/frame_0050.jpg", + "maniskill/StackCube/images/episode_413/frame_0068.jpg", + "maniskill/StackCube/images/episode_413/frame_0406.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.464, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.345, 0.381]). The trajectory involves 357 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_413", + "trajectory_length": 357, + "key_frame_indices": [ + 0, + 18, + 356 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_413.json" + } + }, + { + "id": "maniskill_StackCube_out_370", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_370/frame_0054.jpg", + "maniskill/StackCube/images/episode_370/frame_0098.jpg", + "maniskill/StackCube/images/episode_370/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.309, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.503, 0.485]). The trajectory involves 59 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_370", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 44, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_370.json" + } + }, + { + "id": "maniskill_StackCube_out_268", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_268/frame_0038.jpg", + "maniskill/StackCube/images/episode_268/frame_0080.jpg", + "maniskill/StackCube/images/episode_268/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.540, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.494, 0.636]). The trajectory involves 59 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_268", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 42, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_268.json" + } + }, + { + "id": "maniskill_StackCube_out_759", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_759/frame_0049.jpg", + "maniskill/StackCube/images/episode_759/frame_0069.jpg", + "maniskill/StackCube/images/episode_759/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.455, 0.698]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.433, 0.516]). The trajectory involves 56 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_759", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 20, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_759.json" + } + }, + { + "id": "maniskill_StackCube_out_527", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_527/frame_0033.jpg", + "maniskill/StackCube/images/episode_527/frame_0051.jpg", + "maniskill/StackCube/images/episode_527/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.417, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.348, 0.523]). The trajectory involves 51 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_527", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_527.json" + } + }, + { + "id": "maniskill_StackCube_out_394", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_394/frame_0039.jpg", + "maniskill/StackCube/images/episode_394/frame_0057.jpg", + "maniskill/StackCube/images/episode_394/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.456, 0.554]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.508, 0.533]). The trajectory involves 44 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_394", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_394.json" + } + }, + { + "id": "maniskill_StackCube_out_200", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_200/frame_0050.jpg", + "maniskill/StackCube/images/episode_200/frame_0091.jpg", + "maniskill/StackCube/images/episode_200/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.531, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.342, 0.420]). The trajectory involves 58 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_200", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 41, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_200.json" + } + }, + { + "id": "maniskill_StackCube_out_724", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_724/frame_0043.jpg", + "maniskill/StackCube/images/episode_724/frame_0061.jpg", + "maniskill/StackCube/images/episode_724/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.493, 0.547]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.440, 0.458]). The trajectory involves 44 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_724", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_724.json" + } + }, + { + "id": "maniskill_StackCube_out_520", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_520/frame_0036.jpg", + "maniskill/StackCube/images/episode_520/frame_0075.jpg", + "maniskill/StackCube/images/episode_520/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.411, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.340, 0.536]). The trajectory involves 54 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_520", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 39, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_520.json" + } + }, + { + "id": "maniskill_StackCube_out_764", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_764/frame_0044.jpg", + "maniskill/StackCube/images/episode_764/frame_0087.jpg", + "maniskill/StackCube/images/episode_764/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.366, 0.450]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.474]). The trajectory involves 60 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_764", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 43, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_764.json" + } + }, + { + "id": "maniskill_StackCube_out_351", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_351/frame_0046.jpg", + "maniskill/StackCube/images/episode_351/frame_0082.jpg", + "maniskill/StackCube/images/episode_351/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.479, 0.561]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.394, 0.483]). The trajectory involves 47 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_351", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 36, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_351.json" + } + }, + { + "id": "maniskill_StackCube_out_457", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_457/frame_0037.jpg", + "maniskill/StackCube/images/episode_457/frame_0077.jpg", + "maniskill/StackCube/images/episode_457/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.411, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.521]). The trajectory involves 52 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_457", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_457.json" + } + }, + { + "id": "maniskill_StackCube_out_973", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_973/frame_0037.jpg", + "maniskill/StackCube/images/episode_973/frame_0055.jpg", + "maniskill/StackCube/images/episode_973/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.276, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.303, 0.415]). The trajectory involves 53 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_973", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_973.json" + } + }, + { + "id": "maniskill_StackCube_out_526", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_526/frame_0059.jpg", + "maniskill/StackCube/images/episode_526/frame_0077.jpg", + "maniskill/StackCube/images/episode_526/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.257, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.264, 0.472]). The trajectory involves 50 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_526", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 18, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_526.json" + } + }, + { + "id": "maniskill_StackCube_out_56", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_56/frame_0048.jpg", + "maniskill/StackCube/images/episode_56/frame_0068.jpg", + "maniskill/StackCube/images/episode_56/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.342, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.308, 0.449]). The trajectory involves 59 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_56", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 20, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_56.json" + } + }, + { + "id": "maniskill_StackCube_out_636", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_636/frame_0050.jpg", + "maniskill/StackCube/images/episode_636/frame_0068.jpg", + "maniskill/StackCube/images/episode_636/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.322, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.330, 0.409]). The trajectory involves 51 precise waypoints with total movement distance of 0.098." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_636", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_636.json" + } + }, + { + "id": "maniskill_StackCube_out_831", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_831/frame_0048.jpg", + "maniskill/StackCube/images/episode_831/frame_0085.jpg", + "maniskill/StackCube/images/episode_831/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.444, 0.497]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.361, 0.445]). The trajectory involves 46 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_831", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 37, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_831.json" + } + }, + { + "id": "maniskill_StackCube_out_802", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_802/frame_0037.jpg", + "maniskill/StackCube/images/episode_802/frame_0055.jpg", + "maniskill/StackCube/images/episode_802/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.353, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.322, 0.412]). The trajectory involves 52 precise waypoints with total movement distance of 0.103." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_802", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_802.json" + } + }, + { + "id": "maniskill_StackCube_out_348", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_348/frame_0072.jpg", + "maniskill/StackCube/images/episode_348/frame_0110.jpg", + "maniskill/StackCube/images/episode_348/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.366, 0.635]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.589]). The trajectory involves 55 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_348", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 38, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_348.json" + } + }, + { + "id": "maniskill_StackCube_out_445", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_445/frame_0055.jpg", + "maniskill/StackCube/images/episode_445/frame_0090.jpg", + "maniskill/StackCube/images/episode_445/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.451, 0.526]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.371, 0.469]). The trajectory involves 44 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_445", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 35, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_445.json" + } + }, + { + "id": "maniskill_StackCube_out_283", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_283/frame_0052.jpg", + "maniskill/StackCube/images/episode_283/frame_0092.jpg", + "maniskill/StackCube/images/episode_283/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.573, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.463]). The trajectory involves 55 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_283", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 40, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_283.json" + } + }, + { + "id": "maniskill_StackCube_out_690", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_690/frame_0044.jpg", + "maniskill/StackCube/images/episode_690/frame_0095.jpg", + "maniskill/StackCube/images/episode_690/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.337, 0.442]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.461, 0.565]). The trajectory involves 64 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_690", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 51, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_690.json" + } + }, + { + "id": "maniskill_StackCube_out_660", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_660/frame_0048.jpg", + "maniskill/StackCube/images/episode_660/frame_0066.jpg", + "maniskill/StackCube/images/episode_660/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.537, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.564]). The trajectory involves 55 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_660", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_660.json" + } + }, + { + "id": "maniskill_StackCube_out_33", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_33/frame_0054.jpg", + "maniskill/StackCube/images/episode_33/frame_0094.jpg", + "maniskill/StackCube/images/episode_33/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.512, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.625, 0.529]). The trajectory involves 52 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_33", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_33.json" + } + }, + { + "id": "maniskill_StackCube_out_688", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_688/frame_0036.jpg", + "maniskill/StackCube/images/episode_688/frame_0079.jpg", + "maniskill/StackCube/images/episode_688/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.265, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.318, 0.459]). The trajectory involves 53 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_688", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 43, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_688.json" + } + }, + { + "id": "maniskill_StackCube_out_577", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_577/frame_0043.jpg", + "maniskill/StackCube/images/episode_577/frame_0087.jpg", + "maniskill/StackCube/images/episode_577/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.504, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.251, 0.478]). The trajectory involves 64 precise waypoints with total movement distance of 0.353." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_577", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 44, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_577.json" + } + }, + { + "id": "maniskill_StackCube_out_992", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_992/frame_0056.jpg", + "maniskill/StackCube/images/episode_992/frame_0102.jpg", + "maniskill/StackCube/images/episode_992/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.402, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.482, 0.515]). The trajectory involves 58 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_992", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 46, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_992.json" + } + }, + { + "id": "maniskill_StackCube_out_854", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_854/frame_0043.jpg", + "maniskill/StackCube/images/episode_854/frame_0061.jpg", + "maniskill/StackCube/images/episode_854/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.398, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.343, 0.412]). The trajectory involves 54 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_854", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_854.json" + } + }, + { + "id": "maniskill_StackCube_out_995", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_995/frame_0063.jpg", + "maniskill/StackCube/images/episode_995/frame_0116.jpg", + "maniskill/StackCube/images/episode_995/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.255, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.478, 0.555]). The trajectory involves 70 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_995", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 53, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_995.json" + } + }, + { + "id": "maniskill_StackCube_out_254", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_254/frame_0042.jpg", + "maniskill/StackCube/images/episode_254/frame_0081.jpg", + "maniskill/StackCube/images/episode_254/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.441, 0.488]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.336, 0.438]). The trajectory involves 49 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_254", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 39, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_254.json" + } + }, + { + "id": "maniskill_StackCube_out_710", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_710/frame_0040.jpg", + "maniskill/StackCube/images/episode_710/frame_0058.jpg", + "maniskill/StackCube/images/episode_710/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.384, 0.531]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.285, 0.452]). The trajectory involves 50 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_710", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 18, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_710.json" + } + }, + { + "id": "maniskill_StackCube_out_373", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_373/frame_0057.jpg", + "maniskill/StackCube/images/episode_373/frame_0094.jpg", + "maniskill/StackCube/images/episode_373/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.443, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.473, 0.442]). The trajectory involves 45 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_373", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 37, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_373.json" + } + }, + { + "id": "maniskill_StackCube_out_739", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_739/frame_0048.jpg", + "maniskill/StackCube/images/episode_739/frame_0066.jpg", + "maniskill/StackCube/images/episode_739/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.401, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.433, 0.475]). The trajectory involves 51 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_739", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_739.json" + } + }, + { + "id": "maniskill_StackCube_out_82", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_82/frame_0034.jpg", + "maniskill/StackCube/images/episode_82/frame_0079.jpg", + "maniskill/StackCube/images/episode_82/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.334, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.496, 0.458]). The trajectory involves 69 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_82", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 45, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_82.json" + } + }, + { + "id": "maniskill_StackCube_out_459", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_459/frame_0046.jpg", + "maniskill/StackCube/images/episode_459/frame_0086.jpg", + "maniskill/StackCube/images/episode_459/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.568, 0.656]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.514]). The trajectory involves 54 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_459", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 40, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_459.json" + } + }, + { + "id": "maniskill_StackCube_out_989", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_989/frame_0043.jpg", + "maniskill/StackCube/images/episode_989/frame_0085.jpg", + "maniskill/StackCube/images/episode_989/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.462, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.347, 0.488]). The trajectory involves 55 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_989", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 42, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_989.json" + } + }, + { + "id": "maniskill_StackCube_out_683", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_683/frame_0049.jpg", + "maniskill/StackCube/images/episode_683/frame_0090.jpg", + "maniskill/StackCube/images/episode_683/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.536, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.339, 0.431]). The trajectory involves 58 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_683", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 41, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_683.json" + } + }, + { + "id": "maniskill_StackCube_out_125", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_125/frame_0043.jpg", + "maniskill/StackCube/images/episode_125/frame_0061.jpg", + "maniskill/StackCube/images/episode_125/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.548, 0.574]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.481, 0.471]). The trajectory involves 46 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_125", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_125.json" + } + }, + { + "id": "maniskill_StackCube_out_785", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_785/frame_0062.jpg", + "maniskill/StackCube/images/episode_785/frame_0108.jpg", + "maniskill/StackCube/images/episode_785/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.433, 0.672]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.270, 0.433]). The trajectory involves 70 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_785", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 46, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_785.json" + } + }, + { + "id": "maniskill_StackCube_out_303", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_303/frame_0046.jpg", + "maniskill/StackCube/images/episode_303/frame_0094.jpg", + "maniskill/StackCube/images/episode_303/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.325, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.506, 0.542]). The trajectory involves 61 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_303", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 48, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_303.json" + } + }, + { + "id": "maniskill_StackCube_out_960", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_960/frame_0062.jpg", + "maniskill/StackCube/images/episode_960/frame_0107.jpg", + "maniskill/StackCube/images/episode_960/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.545, 0.813]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.357, 0.583]). The trajectory involves 61 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_960", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 45, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_960.json" + } + }, + { + "id": "maniskill_StackCube_out_388", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_388/frame_0051.jpg", + "maniskill/StackCube/images/episode_388/frame_0069.jpg", + "maniskill/StackCube/images/episode_388/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.386, 0.447]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.334, 0.453]). The trajectory involves 58 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_388", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_388.json" + } + }, + { + "id": "maniskill_StackCube_out_258", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_258/frame_0098.jpg", + "maniskill/StackCube/images/episode_258/frame_0123.jpg", + "maniskill/StackCube/images/episode_258/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.319, 0.403]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.421]). The trajectory involves 69 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_258", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 25, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_258.json" + } + }, + { + "id": "maniskill_StackCube_out_48", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_48/frame_0060.jpg", + "maniskill/StackCube/images/episode_48/frame_0100.jpg", + "maniskill/StackCube/images/episode_48/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.267, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.290, 0.551]). The trajectory involves 51 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_48", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_48.json" + } + }, + { + "id": "maniskill_StackCube_out_590", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_590/frame_0043.jpg", + "maniskill/StackCube/images/episode_590/frame_0061.jpg", + "maniskill/StackCube/images/episode_590/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.332, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.299, 0.414]). The trajectory involves 53 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_590", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_590.json" + } + }, + { + "id": "maniskill_StackCube_out_415", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_415/frame_0043.jpg", + "maniskill/StackCube/images/episode_415/frame_0061.jpg", + "maniskill/StackCube/images/episode_415/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.460, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.434, 0.518]). The trajectory involves 58 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_415", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_415.json" + } + }, + { + "id": "maniskill_StackCube_out_719", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_719/frame_0049.jpg", + "maniskill/StackCube/images/episode_719/frame_0089.jpg", + "maniskill/StackCube/images/episode_719/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.470, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.312, 0.435]). The trajectory involves 54 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_719", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 40, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_719.json" + } + }, + { + "id": "maniskill_StackCube_out_67", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_67/frame_0053.jpg", + "maniskill/StackCube/images/episode_67/frame_0072.jpg", + "maniskill/StackCube/images/episode_67/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.400, 0.601]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.380, 0.434]). The trajectory involves 66 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_67", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 19, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_67.json" + } + }, + { + "id": "maniskill_StackCube_out_814", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_814/frame_0036.jpg", + "maniskill/StackCube/images/episode_814/frame_0081.jpg", + "maniskill/StackCube/images/episode_814/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.446, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.301, 0.528]). The trajectory involves 62 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_814", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 45, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_814.json" + } + }, + { + "id": "maniskill_StackCube_out_465", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_465/frame_0056.jpg", + "maniskill/StackCube/images/episode_465/frame_0096.jpg", + "maniskill/StackCube/images/episode_465/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.510, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.356, 0.387]). The trajectory involves 66 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_465", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 40, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_465.json" + } + }, + { + "id": "maniskill_StackCube_out_47", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_47/frame_0040.jpg", + "maniskill/StackCube/images/episode_47/frame_0058.jpg", + "maniskill/StackCube/images/episode_47/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.491, 0.622]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.440, 0.462]). The trajectory involves 56 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_47", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_47.json" + } + }, + { + "id": "maniskill_StackCube_out_820", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_820/frame_0043.jpg", + "maniskill/StackCube/images/episode_820/frame_0090.jpg", + "maniskill/StackCube/images/episode_820/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.471, 0.623]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.332, 0.444]). The trajectory involves 65 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_820", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 47, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_820.json" + } + }, + { + "id": "maniskill_StackCube_out_443", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_443/frame_0047.jpg", + "maniskill/StackCube/images/episode_443/frame_0093.jpg", + "maniskill/StackCube/images/episode_443/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.260, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.436, 0.584]). The trajectory involves 60 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_443", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 46, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_443.json" + } + }, + { + "id": "maniskill_StackCube_out_473", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_473/frame_0036.jpg", + "maniskill/StackCube/images/episode_473/frame_0055.jpg", + "maniskill/StackCube/images/episode_473/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.427, 0.540]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.360, 0.505]). The trajectory involves 49 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_473", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 19, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_473.json" + } + }, + { + "id": "maniskill_StackCube_out_929", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_929/frame_0039.jpg", + "maniskill/StackCube/images/episode_929/frame_0077.jpg", + "maniskill/StackCube/images/episode_929/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.315, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.404, 0.441]). The trajectory involves 51 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_929", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 38, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_929.json" + } + }, + { + "id": "maniskill_StackCube_out_839", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_839/frame_0040.jpg", + "maniskill/StackCube/images/episode_839/frame_0089.jpg", + "maniskill/StackCube/images/episode_839/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.344, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.525, 0.620]). The trajectory involves 64 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_839", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 49, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_839.json" + } + }, + { + "id": "maniskill_StackCube_out_757", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_757/frame_0057.jpg", + "maniskill/StackCube/images/episode_757/frame_0075.jpg", + "maniskill/StackCube/images/episode_757/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.299, 0.439]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.273, 0.429]). The trajectory involves 48 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_757", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_757.json" + } + }, + { + "id": "maniskill_StackCube_out_763", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_763/frame_0064.jpg", + "maniskill/StackCube/images/episode_763/frame_0081.jpg", + "maniskill/StackCube/images/episode_763/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.543, 0.601]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.507, 0.622]). The trajectory involves 49 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_763", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 17, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_763.json" + } + }, + { + "id": "maniskill_StackCube_out_638", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_638/frame_0059.jpg", + "maniskill/StackCube/images/episode_638/frame_0104.jpg", + "maniskill/StackCube/images/episode_638/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.219, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.346, 0.527]). The trajectory involves 62 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_638", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 45, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_638.json" + } + }, + { + "id": "maniskill_StackCube_out_751", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_751/frame_0038.jpg", + "maniskill/StackCube/images/episode_751/frame_0086.jpg", + "maniskill/StackCube/images/episode_751/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.301, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.480, 0.492]). The trajectory involves 65 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_751", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 48, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_751.json" + } + }, + { + "id": "maniskill_StackCube_out_401", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_401/frame_0052.jpg", + "maniskill/StackCube/images/episode_401/frame_0070.jpg", + "maniskill/StackCube/images/episode_401/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.496, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.536, 0.467]). The trajectory involves 59 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_401", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_401.json" + } + }, + { + "id": "maniskill_StackCube_out_621", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_621/frame_0038.jpg", + "maniskill/StackCube/images/episode_621/frame_0078.jpg", + "maniskill/StackCube/images/episode_621/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.250, 0.498]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.263, 0.498]). The trajectory involves 48 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_621", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 40, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_621.json" + } + }, + { + "id": "maniskill_StackCube_out_456", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_456/frame_0033.jpg", + "maniskill/StackCube/images/episode_456/frame_0051.jpg", + "maniskill/StackCube/images/episode_456/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.497, 0.612]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.482, 0.525]). The trajectory involves 44 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_456", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_456.json" + } + }, + { + "id": "maniskill_StackCube_out_511", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_511/frame_0060.jpg", + "maniskill/StackCube/images/episode_511/frame_0102.jpg", + "maniskill/StackCube/images/episode_511/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.297, 0.468]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.385, 0.521]). The trajectory involves 55 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_511", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 42, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_511.json" + } + }, + { + "id": "maniskill_StackCube_out_483", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_483/frame_0046.jpg", + "maniskill/StackCube/images/episode_483/frame_0066.jpg", + "maniskill/StackCube/images/episode_483/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.387, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.365, 0.511]). The trajectory involves 51 precise waypoints with total movement distance of 0.110." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_483", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 20, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_483.json" + } + }, + { + "id": "maniskill_StackCube_out_576", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_576/frame_0039.jpg", + "maniskill/StackCube/images/episode_576/frame_0080.jpg", + "maniskill/StackCube/images/episode_576/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.419, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.288, 0.414]). The trajectory involves 61 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_576", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 41, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_576.json" + } + }, + { + "id": "maniskill_StackCube_out_347", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_347/frame_0041.jpg", + "maniskill/StackCube/images/episode_347/frame_0059.jpg", + "maniskill/StackCube/images/episode_347/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.504, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.555, 0.495]). The trajectory involves 56 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_347", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_347.json" + } + }, + { + "id": "maniskill_StackCube_out_760", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_760/frame_0055.jpg", + "maniskill/StackCube/images/episode_760/frame_0099.jpg", + "maniskill/StackCube/images/episode_760/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.455, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.219, 0.480]). The trajectory involves 66 precise waypoints with total movement distance of 0.336." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_760", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 44, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_760.json" + } + }, + { + "id": "maniskill_StackCube_out_984", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_984/frame_0069.jpg", + "maniskill/StackCube/images/episode_984/frame_0126.jpg", + "maniskill/StackCube/images/episode_984/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.404, 0.426]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.481]). The trajectory involves 67 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_984", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 57, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_984.json" + } + }, + { + "id": "maniskill_StackCube_out_505", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_505/frame_0054.jpg", + "maniskill/StackCube/images/episode_505/frame_0072.jpg", + "maniskill/StackCube/images/episode_505/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.446, 0.459]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.474, 0.528]). The trajectory involves 67 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_505", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_505.json" + } + }, + { + "id": "maniskill_StackCube_out_183", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_183/frame_0053.jpg", + "maniskill/StackCube/images/episode_183/frame_0073.jpg", + "maniskill/StackCube/images/episode_183/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.312, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.331, 0.504]). The trajectory involves 59 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_183", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 20, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_183.json" + } + }, + { + "id": "maniskill_StackCube_out_609", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_609/frame_0043.jpg", + "maniskill/StackCube/images/episode_609/frame_0061.jpg", + "maniskill/StackCube/images/episode_609/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.452, 0.553]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.426, 0.484]). The trajectory involves 43 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_609", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 18, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_609.json" + } + }, + { + "id": "maniskill_StackCube_out_600", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_600/frame_0039.jpg", + "maniskill/StackCube/images/episode_600/frame_0076.jpg", + "maniskill/StackCube/images/episode_600/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.547, 0.610]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.530]). The trajectory involves 46 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_600", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 37, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_600.json" + } + }, + { + "id": "maniskill_StackCube_out_745", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_745/frame_0044.jpg", + "maniskill/StackCube/images/episode_745/frame_0083.jpg", + "maniskill/StackCube/images/episode_745/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.369, 0.513]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.523]). The trajectory involves 50 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_745", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_745.json" + } + }, + { + "id": "maniskill_StackCube_out_251", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_251/frame_0044.jpg", + "maniskill/StackCube/images/episode_251/frame_0063.jpg", + "maniskill/StackCube/images/episode_251/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.364, 0.568]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.334, 0.495]). The trajectory involves 51 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_251", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 19, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_251.json" + } + }, + { + "id": "maniskill_StackCube_out_89", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_89/frame_0055.jpg", + "maniskill/StackCube/images/episode_89/frame_0099.jpg", + "maniskill/StackCube/images/episode_89/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.301, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.363, 0.551]). The trajectory involves 55 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_89", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 44, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_89.json" + } + }, + { + "id": "maniskill_StackCube_out_964", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_964/frame_0053.jpg", + "maniskill/StackCube/images/episode_964/frame_0102.jpg", + "maniskill/StackCube/images/episode_964/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.299, 0.600]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.439, 0.592]). The trajectory involves 61 precise waypoints with total movement distance of 0.268." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_964", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 49, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_964.json" + } + }, + { + "id": "maniskill_StackCube_out_496", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_496/frame_0063.jpg", + "maniskill/StackCube/images/episode_496/frame_0100.jpg", + "maniskill/StackCube/images/episode_496/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.270, 0.475]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.333, 0.457]). The trajectory involves 49 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_496", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 37, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_496.json" + } + }, + { + "id": "maniskill_StackCube_out_321", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_321/frame_0038.jpg", + "maniskill/StackCube/images/episode_321/frame_0056.jpg", + "maniskill/StackCube/images/episode_321/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.361, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.462, 0.440]). The trajectory involves 63 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_321", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 18, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_321.json" + } + }, + { + "id": "maniskill_StackCube_out_699", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_699/frame_0052.jpg", + "maniskill/StackCube/images/episode_699/frame_0086.jpg", + "maniskill/StackCube/images/episode_699/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.513, 0.545]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.550, 0.544]). The trajectory involves 39 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_699", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 34, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_699.json" + } + }, + { + "id": "maniskill_StackCube_out_435", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_435/frame_0049.jpg", + "maniskill/StackCube/images/episode_435/frame_0067.jpg", + "maniskill/StackCube/images/episode_435/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.462, 0.476]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.391, 0.486]). The trajectory involves 66 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_435", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 18, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_435.json" + } + }, + { + "id": "maniskill_StackCube_out_601", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_601/frame_0038.jpg", + "maniskill/StackCube/images/episode_601/frame_0057.jpg", + "maniskill/StackCube/images/episode_601/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.297, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.233, 0.441]). The trajectory involves 54 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_601", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 19, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_601.json" + } + }, + { + "id": "maniskill_StackCube_out_604", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_604/frame_0046.jpg", + "maniskill/StackCube/images/episode_604/frame_0085.jpg", + "maniskill/StackCube/images/episode_604/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.520, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.376, 0.444]). The trajectory involves 52 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_604", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 39, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_604.json" + } + }, + { + "id": "maniskill_StackCube_out_713", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_713/frame_0051.jpg", + "maniskill/StackCube/images/episode_713/frame_0069.jpg", + "maniskill/StackCube/images/episode_713/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.306, 0.484]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.242, 0.448]). The trajectory involves 43 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_713", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 18, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_713.json" + } + }, + { + "id": "maniskill_StackCube_out_894", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_894/frame_0053.jpg", + "maniskill/StackCube/images/episode_894/frame_0071.jpg", + "maniskill/StackCube/images/episode_894/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.414, 0.508]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.386, 0.502]). The trajectory involves 49 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_894", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_894.json" + } + }, + { + "id": "maniskill_StackCube_out_195", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_195/frame_0062.jpg", + "maniskill/StackCube/images/episode_195/frame_0112.jpg", + "maniskill/StackCube/images/episode_195/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.554, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.286, 0.458]). The trajectory involves 70 precise waypoints with total movement distance of 0.376." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_195", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 50, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_195.json" + } + }, + { + "id": "maniskill_StackCube_out_731", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_731/frame_0044.jpg", + "maniskill/StackCube/images/episode_731/frame_0083.jpg", + "maniskill/StackCube/images/episode_731/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.442, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.316, 0.401]). The trajectory involves 57 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_731", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 39, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_731.json" + } + }, + { + "id": "maniskill_StackCube_out_801", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_801/frame_0037.jpg", + "maniskill/StackCube/images/episode_801/frame_0078.jpg", + "maniskill/StackCube/images/episode_801/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.357, 0.473]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.491, 0.505]). The trajectory involves 54 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_801", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 41, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_801.json" + } + }, + { + "id": "maniskill_StackCube_out_765", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_765/frame_0042.jpg", + "maniskill/StackCube/images/episode_765/frame_0090.jpg", + "maniskill/StackCube/images/episode_765/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.280, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.434, 0.541]). The trajectory involves 60 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_765", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 48, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_765.json" + } + }, + { + "id": "maniskill_StackCube_out_233", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_233/frame_0039.jpg", + "maniskill/StackCube/images/episode_233/frame_0058.jpg", + "maniskill/StackCube/images/episode_233/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.297, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.380, 0.462]). The trajectory involves 57 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_233", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 19, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_233.json" + } + }, + { + "id": "maniskill_StackCube_out_468", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_468/frame_0232.jpg", + "maniskill/StackCube/images/episode_468/frame_0299.jpg", + "maniskill/StackCube/images/episode_468/frame_0314.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.334, 0.404]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.486]). The trajectory involves 83 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_468", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 67, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_468.json" + } + }, + { + "id": "maniskill_StackCube_out_852", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_852/frame_0076.jpg", + "maniskill/StackCube/images/episode_852/frame_0087.jpg", + "maniskill/StackCube/images/episode_852/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.307, 0.557]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.248, 0.491]). The trajectory involves 39 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_852", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 11, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_852.json" + } + }, + { + "id": "maniskill_StackCube_out_641", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_641/frame_0042.jpg", + "maniskill/StackCube/images/episode_641/frame_0082.jpg", + "maniskill/StackCube/images/episode_641/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.482, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.347, 0.419]). The trajectory involves 53 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_641", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 40, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_641.json" + } + }, + { + "id": "maniskill_StackCube_out_922", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_922/frame_0055.jpg", + "maniskill/StackCube/images/episode_922/frame_0098.jpg", + "maniskill/StackCube/images/episode_922/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.428, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.479, 0.644]). The trajectory involves 54 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_922", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 43, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_922.json" + } + }, + { + "id": "maniskill_StackCube_out_431", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_431/frame_0043.jpg", + "maniskill/StackCube/images/episode_431/frame_0062.jpg", + "maniskill/StackCube/images/episode_431/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.430, 0.623]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.360, 0.481]). The trajectory involves 56 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_431", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 19, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_431.json" + } + }, + { + "id": "maniskill_StackCube_out_4", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_4/frame_0056.jpg", + "maniskill/StackCube/images/episode_4/frame_0097.jpg", + "maniskill/StackCube/images/episode_4/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.433, 0.596]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.478, 0.608]). The trajectory involves 48 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_4", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 41, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_4.json" + } + }, + { + "id": "maniskill_StackCube_out_182", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_182/frame_0048.jpg", + "maniskill/StackCube/images/episode_182/frame_0066.jpg", + "maniskill/StackCube/images/episode_182/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.292, 0.421]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.248, 0.420]). The trajectory involves 55 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_182", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_182.json" + } + }, + { + "id": "maniskill_StackCube_out_676", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_676/frame_0036.jpg", + "maniskill/StackCube/images/episode_676/frame_0078.jpg", + "maniskill/StackCube/images/episode_676/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.276, 0.471]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.400, 0.516]). The trajectory involves 55 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_676", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 42, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_676.json" + } + }, + { + "id": "maniskill_StackCube_out_927", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_927/frame_0047.jpg", + "maniskill/StackCube/images/episode_927/frame_0065.jpg", + "maniskill/StackCube/images/episode_927/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.474, 0.611]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.426, 0.433]). The trajectory involves 63 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_927", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 18, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_927.json" + } + }, + { + "id": "maniskill_StackCube_out_842", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_842/frame_0048.jpg", + "maniskill/StackCube/images/episode_842/frame_0092.jpg", + "maniskill/StackCube/images/episode_842/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.375, 0.562]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.486, 0.569]). The trajectory involves 58 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_842", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 44, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_842.json" + } + }, + { + "id": "maniskill_StackCube_out_799", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_799/frame_0053.jpg", + "maniskill/StackCube/images/episode_799/frame_0105.jpg", + "maniskill/StackCube/images/episode_799/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.361, 0.646]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.211, 0.480]). The trajectory involves 68 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_799", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 52, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_799.json" + } + }, + { + "id": "maniskill_StackCube_out_324", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_324/frame_0061.jpg", + "maniskill/StackCube/images/episode_324/frame_0104.jpg", + "maniskill/StackCube/images/episode_324/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.285, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.368, 0.567]). The trajectory involves 60 precise waypoints with total movement distance of 0.259." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_324", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 43, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_324.json" + } + }, + { + "id": "maniskill_StackCube_out_678", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_678/frame_0047.jpg", + "maniskill/StackCube/images/episode_678/frame_0091.jpg", + "maniskill/StackCube/images/episode_678/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.302, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.472, 0.455]). The trajectory involves 64 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_678", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 44, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_678.json" + } + }, + { + "id": "maniskill_StackCube_out_689", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_689/frame_0039.jpg", + "maniskill/StackCube/images/episode_689/frame_0079.jpg", + "maniskill/StackCube/images/episode_689/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.353, 0.487]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.485, 0.500]). The trajectory involves 51 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_689", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_689.json" + } + }, + { + "id": "maniskill_StackCube_out_810", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_810/frame_0033.jpg", + "maniskill/StackCube/images/episode_810/frame_0074.jpg", + "maniskill/StackCube/images/episode_810/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.476, 0.601]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.310, 0.412]). The trajectory involves 64 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_810", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 41, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_810.json" + } + }, + { + "id": "maniskill_StackCube_out_422", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_422/frame_0039.jpg", + "maniskill/StackCube/images/episode_422/frame_0057.jpg", + "maniskill/StackCube/images/episode_422/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.316, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.258, 0.477]). The trajectory involves 59 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_422", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_422.json" + } + }, + { + "id": "maniskill_StackCube_out_472", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_472/frame_0057.jpg", + "maniskill/StackCube/images/episode_472/frame_0077.jpg", + "maniskill/StackCube/images/episode_472/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.403, 0.642]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.534]). The trajectory involves 57 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_472", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 20, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_472.json" + } + }, + { + "id": "maniskill_StackCube_out_994", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_994/frame_0037.jpg", + "maniskill/StackCube/images/episode_994/frame_0079.jpg", + "maniskill/StackCube/images/episode_994/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.499, 0.675]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.429, 0.478]). The trajectory involves 60 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_994", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 42, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_994.json" + } + }, + { + "id": "maniskill_StackCube_out_938", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_938/frame_0039.jpg", + "maniskill/StackCube/images/episode_938/frame_0081.jpg", + "maniskill/StackCube/images/episode_938/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.530, 0.602]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.292, 0.462]). The trajectory involves 66 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_938", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 42, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_938.json" + } + }, + { + "id": "maniskill_StackCube_out_22", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_22/frame_0050.jpg", + "maniskill/StackCube/images/episode_22/frame_0068.jpg", + "maniskill/StackCube/images/episode_22/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.471, 0.617]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.450, 0.513]). The trajectory involves 46 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_22", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_22.json" + } + }, + { + "id": "maniskill_StackCube_out_642", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_642/frame_0038.jpg", + "maniskill/StackCube/images/episode_642/frame_0080.jpg", + "maniskill/StackCube/images/episode_642/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.392, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.544, 0.488]). The trajectory involves 58 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_642", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 42, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_642.json" + } + }, + { + "id": "maniskill_StackCube_out_585", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_585/frame_0043.jpg", + "maniskill/StackCube/images/episode_585/frame_0061.jpg", + "maniskill/StackCube/images/episode_585/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.384, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.441, 0.469]). The trajectory involves 54 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_585", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_585.json" + } + }, + { + "id": "maniskill_StackCube_out_669", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_669/frame_0055.jpg", + "maniskill/StackCube/images/episode_669/frame_0096.jpg", + "maniskill/StackCube/images/episode_669/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.542, 0.630]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.386, 0.471]). The trajectory involves 55 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_669", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 41, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_669.json" + } + }, + { + "id": "maniskill_StackCube_out_281", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_281/frame_0038.jpg", + "maniskill/StackCube/images/episode_281/frame_0080.jpg", + "maniskill/StackCube/images/episode_281/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.315, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.342, 0.505]). The trajectory involves 49 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_281", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 42, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_281.json" + } + }, + { + "id": "maniskill_StackCube_out_444", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_444/frame_0046.jpg", + "maniskill/StackCube/images/episode_444/frame_0094.jpg", + "maniskill/StackCube/images/episode_444/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.269, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.534]). The trajectory involves 64 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_444", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 48, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_444.json" + } + }, + { + "id": "maniskill_StackCube_out_212", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_212/frame_0041.jpg", + "maniskill/StackCube/images/episode_212/frame_0060.jpg", + "maniskill/StackCube/images/episode_212/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.334, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.340, 0.434]). The trajectory involves 61 precise waypoints with total movement distance of 0.106." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_212", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 19, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_212.json" + } + }, + { + "id": "maniskill_StackCube_out_936", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_936/frame_0034.jpg", + "maniskill/StackCube/images/episode_936/frame_0052.jpg", + "maniskill/StackCube/images/episode_936/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.362, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.314, 0.477]). The trajectory involves 43 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_936", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 18, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_936.json" + } + }, + { + "id": "maniskill_StackCube_out_255", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_255/frame_0051.jpg", + "maniskill/StackCube/images/episode_255/frame_0095.jpg", + "maniskill/StackCube/images/episode_255/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.327, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.466, 0.563]). The trajectory involves 56 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_255", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 44, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_255.json" + } + }, + { + "id": "maniskill_StackCube_out_238", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_238/frame_0046.jpg", + "maniskill/StackCube/images/episode_238/frame_0064.jpg", + "maniskill/StackCube/images/episode_238/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.498, 0.607]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.451, 0.495]). The trajectory involves 46 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_238", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_238.json" + } + }, + { + "id": "maniskill_StackCube_out_806", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_806/frame_0039.jpg", + "maniskill/StackCube/images/episode_806/frame_0057.jpg", + "maniskill/StackCube/images/episode_806/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.385, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.389, 0.448]). The trajectory involves 51 precise waypoints with total movement distance of 0.088." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_806", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_806.json" + } + }, + { + "id": "maniskill_StackCube_out_148", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_148/frame_0041.jpg", + "maniskill/StackCube/images/episode_148/frame_0083.jpg", + "maniskill/StackCube/images/episode_148/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.385, 0.475]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.518, 0.558]). The trajectory involves 57 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_148", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 42, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_148.json" + } + }, + { + "id": "maniskill_StackCube_out_100", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_100/frame_0055.jpg", + "maniskill/StackCube/images/episode_100/frame_0105.jpg", + "maniskill/StackCube/images/episode_100/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.258, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.492, 0.643]). The trajectory involves 66 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_100", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 50, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_100.json" + } + }, + { + "id": "maniskill_StackCube_out_322", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_322/frame_0032.jpg", + "maniskill/StackCube/images/episode_322/frame_0074.jpg", + "maniskill/StackCube/images/episode_322/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.383, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.416, 0.583]). The trajectory involves 57 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_322", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 42, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_322.json" + } + }, + { + "id": "maniskill_StackCube_out_934", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_934/frame_0044.jpg", + "maniskill/StackCube/images/episode_934/frame_0082.jpg", + "maniskill/StackCube/images/episode_934/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.457, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.361, 0.513]). The trajectory involves 51 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_934", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 38, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_934.json" + } + }, + { + "id": "maniskill_StackCube_out_211", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_211/frame_0043.jpg", + "maniskill/StackCube/images/episode_211/frame_0095.jpg", + "maniskill/StackCube/images/episode_211/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.345, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.586, 0.584]). The trajectory involves 72 precise waypoints with total movement distance of 0.371." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_211", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 52, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_211.json" + } + }, + { + "id": "maniskill_StackCube_out_439", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_439/frame_0037.jpg", + "maniskill/StackCube/images/episode_439/frame_0075.jpg", + "maniskill/StackCube/images/episode_439/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.383, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.405, 0.547]). The trajectory involves 46 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_439", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 38, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_439.json" + } + }, + { + "id": "maniskill_StackCube_out_115", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_115/frame_0051.jpg", + "maniskill/StackCube/images/episode_115/frame_0070.jpg", + "maniskill/StackCube/images/episode_115/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.452, 0.622]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.512, 0.548]). The trajectory involves 59 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_115", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 19, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_115.json" + } + }, + { + "id": "maniskill_StackCube_out_524", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_524/frame_0043.jpg", + "maniskill/StackCube/images/episode_524/frame_0081.jpg", + "maniskill/StackCube/images/episode_524/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.357, 0.501]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.439, 0.515]). The trajectory involves 47 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_524", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 38, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_524.json" + } + }, + { + "id": "maniskill_StackCube_out_525", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_525/frame_0042.jpg", + "maniskill/StackCube/images/episode_525/frame_0082.jpg", + "maniskill/StackCube/images/episode_525/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.414, 0.520]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.422, 0.560]). The trajectory involves 49 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_525", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 40, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_525.json" + } + }, + { + "id": "maniskill_StackCube_out_136", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_136/frame_0050.jpg", + "maniskill/StackCube/images/episode_136/frame_0068.jpg", + "maniskill/StackCube/images/episode_136/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.315, 0.434]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.261, 0.444]). The trajectory involves 59 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_136", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_136.json" + } + }, + { + "id": "maniskill_StackCube_out_178", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_178/frame_0042.jpg", + "maniskill/StackCube/images/episode_178/frame_0060.jpg", + "maniskill/StackCube/images/episode_178/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.499, 0.538]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.456, 0.489]). The trajectory involves 46 precise waypoints with total movement distance of 0.154." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_178", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_178.json" + } + }, + { + "id": "maniskill_StackCube_out_602", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_602/frame_0051.jpg", + "maniskill/StackCube/images/episode_602/frame_0095.jpg", + "maniskill/StackCube/images/episode_602/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.378, 0.439]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.518, 0.485]). The trajectory involves 54 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_602", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 44, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_602.json" + } + }, + { + "id": "maniskill_StackCube_out_871", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_871/frame_0042.jpg", + "maniskill/StackCube/images/episode_871/frame_0081.jpg", + "maniskill/StackCube/images/episode_871/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.351, 0.473]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.457, 0.505]). The trajectory involves 49 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_871", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 39, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_871.json" + } + }, + { + "id": "maniskill_StackCube_out_651", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_651/frame_0045.jpg", + "maniskill/StackCube/images/episode_651/frame_0089.jpg", + "maniskill/StackCube/images/episode_651/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.385, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.583, 0.604]). The trajectory involves 56 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_651", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 44, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_651.json" + } + }, + { + "id": "maniskill_StackCube_out_515", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_515/frame_0044.jpg", + "maniskill/StackCube/images/episode_515/frame_0092.jpg", + "maniskill/StackCube/images/episode_515/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.388, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.495, 0.582]). The trajectory involves 63 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_515", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 48, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_515.json" + } + }, + { + "id": "maniskill_StackCube_out_860", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_860/frame_0043.jpg", + "maniskill/StackCube/images/episode_860/frame_0061.jpg", + "maniskill/StackCube/images/episode_860/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.395, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.431]). The trajectory involves 62 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_860", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_860.json" + } + }, + { + "id": "maniskill_StackCube_out_360", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_360/frame_0061.jpg", + "maniskill/StackCube/images/episode_360/frame_0110.jpg", + "maniskill/StackCube/images/episode_360/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.370, 0.420]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.446, 0.466]). The trajectory involves 61 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_360", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 49, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_360.json" + } + }, + { + "id": "maniskill_StackCube_out_359", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_359/frame_0047.jpg", + "maniskill/StackCube/images/episode_359/frame_0082.jpg", + "maniskill/StackCube/images/episode_359/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.307, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.324, 0.492]). The trajectory involves 45 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_359", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 35, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_359.json" + } + }, + { + "id": "maniskill_StackCube_out_702", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_702/frame_0054.jpg", + "maniskill/StackCube/images/episode_702/frame_0072.jpg", + "maniskill/StackCube/images/episode_702/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.488, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.485, 0.461]). The trajectory involves 55 precise waypoints with total movement distance of 0.100." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_702", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_702.json" + } + }, + { + "id": "maniskill_StackCube_out_797", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_797/frame_0040.jpg", + "maniskill/StackCube/images/episode_797/frame_0059.jpg", + "maniskill/StackCube/images/episode_797/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.311, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.302, 0.457]). The trajectory involves 54 precise waypoints with total movement distance of 0.086." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_797", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 19, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_797.json" + } + }, + { + "id": "maniskill_StackCube_out_127", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_127/frame_0039.jpg", + "maniskill/StackCube/images/episode_127/frame_0082.jpg", + "maniskill/StackCube/images/episode_127/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.435, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.280, 0.524]). The trajectory involves 57 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_127", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 43, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_127.json" + } + }, + { + "id": "maniskill_StackCube_out_643", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_643/frame_0046.jpg", + "maniskill/StackCube/images/episode_643/frame_0088.jpg", + "maniskill/StackCube/images/episode_643/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.407, 0.480]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.575]). The trajectory involves 55 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_643", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 42, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_643.json" + } + }, + { + "id": "maniskill_StackCube_out_59", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_59/frame_0049.jpg", + "maniskill/StackCube/images/episode_59/frame_0067.jpg", + "maniskill/StackCube/images/episode_59/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.412, 0.543]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.355, 0.493]). The trajectory involves 42 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_59", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 18, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_59.json" + } + }, + { + "id": "maniskill_StackCube_out_703", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_703/frame_0041.jpg", + "maniskill/StackCube/images/episode_703/frame_0081.jpg", + "maniskill/StackCube/images/episode_703/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.358, 0.475]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.498]). The trajectory involves 51 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_703", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_703.json" + } + }, + { + "id": "maniskill_StackCube_out_50", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_50/frame_0041.jpg", + "maniskill/StackCube/images/episode_50/frame_0059.jpg", + "maniskill/StackCube/images/episode_50/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.438, 0.487]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.471, 0.429]). The trajectory involves 62 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_50", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_50.json" + } + }, + { + "id": "maniskill_StackCube_out_152", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_152/frame_0033.jpg", + "maniskill/StackCube/images/episode_152/frame_0075.jpg", + "maniskill/StackCube/images/episode_152/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.494, 0.583]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.292, 0.468]). The trajectory involves 57 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_152", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 42, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_152.json" + } + }, + { + "id": "maniskill_StackCube_out_968", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_968/frame_0045.jpg", + "maniskill/StackCube/images/episode_968/frame_0063.jpg", + "maniskill/StackCube/images/episode_968/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.377, 0.449]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.391, 0.470]). The trajectory involves 54 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_968", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_968.json" + } + }, + { + "id": "maniskill_StackCube_out_534", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_534/frame_0053.jpg", + "maniskill/StackCube/images/episode_534/frame_0099.jpg", + "maniskill/StackCube/images/episode_534/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.337, 0.614]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.503, 0.577]). The trajectory involves 65 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_534", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 46, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_534.json" + } + }, + { + "id": "maniskill_StackCube_out_57", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_57/frame_0055.jpg", + "maniskill/StackCube/images/episode_57/frame_0073.jpg", + "maniskill/StackCube/images/episode_57/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.493, 0.579]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.471]). The trajectory involves 52 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_57", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_57.json" + } + }, + { + "id": "maniskill_StackCube_out_632", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_632/frame_0053.jpg", + "maniskill/StackCube/images/episode_632/frame_0091.jpg", + "maniskill/StackCube/images/episode_632/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.360, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.277, 0.487]). The trajectory involves 46 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_632", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 38, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_632.json" + } + }, + { + "id": "maniskill_StackCube_out_53", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_53/frame_0051.jpg", + "maniskill/StackCube/images/episode_53/frame_0069.jpg", + "maniskill/StackCube/images/episode_53/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.398, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.309, 0.451]). The trajectory involves 62 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_53", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_53.json" + } + }, + { + "id": "maniskill_StackCube_out_26", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_26/frame_0055.jpg", + "maniskill/StackCube/images/episode_26/frame_0098.jpg", + "maniskill/StackCube/images/episode_26/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.451, 0.456]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.504, 0.479]). The trajectory involves 52 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_26", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 43, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_26.json" + } + }, + { + "id": "maniskill_StackCube_out_179", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_179/frame_0040.jpg", + "maniskill/StackCube/images/episode_179/frame_0058.jpg", + "maniskill/StackCube/images/episode_179/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.403, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.474]). The trajectory involves 57 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_179", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_179.json" + } + }, + { + "id": "maniskill_StackCube_out_333", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_333/frame_0037.jpg", + "maniskill/StackCube/images/episode_333/frame_0078.jpg", + "maniskill/StackCube/images/episode_333/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.501, 0.653]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.306, 0.557]). The trajectory involves 56 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_333", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 41, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_333.json" + } + }, + { + "id": "maniskill_StackCube_out_339", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_339/frame_0034.jpg", + "maniskill/StackCube/images/episode_339/frame_0052.jpg", + "maniskill/StackCube/images/episode_339/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.402, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.343, 0.498]). The trajectory involves 49 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_339", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_339.json" + } + }, + { + "id": "maniskill_StackCube_out_151", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_151/frame_0051.jpg", + "maniskill/StackCube/images/episode_151/frame_0071.jpg", + "maniskill/StackCube/images/episode_151/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.365, 0.597]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.308, 0.512]). The trajectory involves 48 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_151", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 20, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_151.json" + } + }, + { + "id": "maniskill_StackCube_out_900", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_900/frame_0035.jpg", + "maniskill/StackCube/images/episode_900/frame_0071.jpg", + "maniskill/StackCube/images/episode_900/frame_0080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.457, 0.522]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.520, 0.561]). The trajectory involves 46 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_900", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 36, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_900.json" + } + }, + { + "id": "maniskill_StackCube_out_705", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_705/frame_0035.jpg", + "maniskill/StackCube/images/episode_705/frame_0081.jpg", + "maniskill/StackCube/images/episode_705/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.299, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.412, 0.656]). The trajectory involves 61 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_705", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 46, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_705.json" + } + }, + { + "id": "maniskill_StackCube_out_299", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_299/frame_0046.jpg", + "maniskill/StackCube/images/episode_299/frame_0065.jpg", + "maniskill/StackCube/images/episode_299/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.401, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.303, 0.412]). The trajectory involves 62 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_299", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 19, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_299.json" + } + }, + { + "id": "maniskill_StackCube_out_446", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_446/frame_0036.jpg", + "maniskill/StackCube/images/episode_446/frame_0076.jpg", + "maniskill/StackCube/images/episode_446/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.476, 0.571]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.367, 0.444]). The trajectory involves 52 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_446", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_446.json" + } + }, + { + "id": "maniskill_StackCube_out_37", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_37/frame_0044.jpg", + "maniskill/StackCube/images/episode_37/frame_0091.jpg", + "maniskill/StackCube/images/episode_37/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.294, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.464]). The trajectory involves 60 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_37", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 47, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_37.json" + } + }, + { + "id": "maniskill_StackCube_out_5", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_5/frame_0054.jpg", + "maniskill/StackCube/images/episode_5/frame_0095.jpg", + "maniskill/StackCube/images/episode_5/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.426, 0.449]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.596, 0.501]). The trajectory involves 60 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_5", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 41, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_5.json" + } + }, + { + "id": "maniskill_StackCube_out_189", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_189/frame_0049.jpg", + "maniskill/StackCube/images/episode_189/frame_0091.jpg", + "maniskill/StackCube/images/episode_189/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.464, 0.474]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.325, 0.412]). The trajectory involves 54 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_189", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 42, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_189.json" + } + }, + { + "id": "maniskill_StackCube_out_72", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_72/frame_0040.jpg", + "maniskill/StackCube/images/episode_72/frame_0086.jpg", + "maniskill/StackCube/images/episode_72/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.442, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.431, 0.573]). The trajectory involves 60 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_72", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 46, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_72.json" + } + }, + { + "id": "maniskill_StackCube_out_793", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_793/frame_0044.jpg", + "maniskill/StackCube/images/episode_793/frame_0083.jpg", + "maniskill/StackCube/images/episode_793/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.529, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.420]). The trajectory involves 55 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_793", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 39, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_793.json" + } + }, + { + "id": "maniskill_StackCube_out_725", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_725/frame_0037.jpg", + "maniskill/StackCube/images/episode_725/frame_0072.jpg", + "maniskill/StackCube/images/episode_725/frame_0080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.371, 0.492]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.415, 0.478]). The trajectory involves 44 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_725", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 35, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_725.json" + } + }, + { + "id": "maniskill_StackCube_out_589", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_589/frame_0041.jpg", + "maniskill/StackCube/images/episode_589/frame_0059.jpg", + "maniskill/StackCube/images/episode_589/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.399, 0.555]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.335, 0.468]). The trajectory involves 46 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_589", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_589.json" + } + }, + { + "id": "maniskill_StackCube_out_668", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_668/frame_0048.jpg", + "maniskill/StackCube/images/episode_668/frame_0092.jpg", + "maniskill/StackCube/images/episode_668/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.327, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.499]). The trajectory involves 54 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_668", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 44, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_668.json" + } + }, + { + "id": "maniskill_StackCube_out_150", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_150/frame_0060.jpg", + "maniskill/StackCube/images/episode_150/frame_0078.jpg", + "maniskill/StackCube/images/episode_150/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.412, 0.436]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.320, 0.408]). The trajectory involves 56 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_150", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_150.json" + } + }, + { + "id": "maniskill_StackCube_out_886", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_886/frame_0041.jpg", + "maniskill/StackCube/images/episode_886/frame_0077.jpg", + "maniskill/StackCube/images/episode_886/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.430, 0.573]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.494, 0.576]). The trajectory involves 43 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_886", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_886.json" + } + }, + { + "id": "maniskill_StackCube_out_494", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_494/frame_0041.jpg", + "maniskill/StackCube/images/episode_494/frame_0059.jpg", + "maniskill/StackCube/images/episode_494/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.339, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.352, 0.446]). The trajectory involves 51 precise waypoints with total movement distance of 0.098." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_494", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_494.json" + } + }, + { + "id": "maniskill_StackCube_out_623", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_623/frame_0042.jpg", + "maniskill/StackCube/images/episode_623/frame_0081.jpg", + "maniskill/StackCube/images/episode_623/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.432, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.331, 0.423]). The trajectory involves 50 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_623", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_623.json" + } + }, + { + "id": "maniskill_StackCube_out_71", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_71/frame_0049.jpg", + "maniskill/StackCube/images/episode_71/frame_0095.jpg", + "maniskill/StackCube/images/episode_71/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.366, 0.574]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.514]). The trajectory involves 63 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_71", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 46, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_71.json" + } + }, + { + "id": "maniskill_StackCube_out_768", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_768/frame_0040.jpg", + "maniskill/StackCube/images/episode_768/frame_0088.jpg", + "maniskill/StackCube/images/episode_768/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.408, 0.574]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.586, 0.686]). The trajectory involves 60 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_768", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 48, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_768.json" + } + }, + { + "id": "maniskill_StackCube_out_224", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_224/frame_0043.jpg", + "maniskill/StackCube/images/episode_224/frame_0091.jpg", + "maniskill/StackCube/images/episode_224/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.367, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.554]). The trajectory involves 61 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_224", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 48, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_224.json" + } + }, + { + "id": "maniskill_StackCube_out_803", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_803/frame_0037.jpg", + "maniskill/StackCube/images/episode_803/frame_0075.jpg", + "maniskill/StackCube/images/episode_803/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.464, 0.601]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.575, 0.601]). The trajectory involves 49 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_803", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 38, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_803.json" + } + }, + { + "id": "maniskill_StackCube_out_686", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_686/frame_0054.jpg", + "maniskill/StackCube/images/episode_686/frame_0072.jpg", + "maniskill/StackCube/images/episode_686/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.412, 0.463]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.420, 0.476]). The trajectory involves 52 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_686", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_686.json" + } + }, + { + "id": "maniskill_StackCube_out_569", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_569/frame_0051.jpg", + "maniskill/StackCube/images/episode_569/frame_0099.jpg", + "maniskill/StackCube/images/episode_569/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.277, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.536]). The trajectory involves 69 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_569", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 48, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_569.json" + } + }, + { + "id": "maniskill_StackCube_out_252", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_252/frame_0050.jpg", + "maniskill/StackCube/images/episode_252/frame_0068.jpg", + "maniskill/StackCube/images/episode_252/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.395, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.456]). The trajectory involves 51 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_252", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_252.json" + } + }, + { + "id": "maniskill_StackCube_out_969", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_969/frame_0045.jpg", + "maniskill/StackCube/images/episode_969/frame_0063.jpg", + "maniskill/StackCube/images/episode_969/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.440, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.521, 0.485]). The trajectory involves 59 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_969", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_969.json" + } + }, + { + "id": "maniskill_StackCube_out_215", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_215/frame_0054.jpg", + "maniskill/StackCube/images/episode_215/frame_0072.jpg", + "maniskill/StackCube/images/episode_215/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.423, 0.443]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.324, 0.414]). The trajectory involves 57 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_215", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_215.json" + } + }, + { + "id": "maniskill_StackCube_out_675", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_675/frame_0040.jpg", + "maniskill/StackCube/images/episode_675/frame_0084.jpg", + "maniskill/StackCube/images/episode_675/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.349, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.268, 0.528]). The trajectory involves 59 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_675", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 44, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_675.json" + } + }, + { + "id": "maniskill_StackCube_out_880", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_880/frame_0049.jpg", + "maniskill/StackCube/images/episode_880/frame_0067.jpg", + "maniskill/StackCube/images/episode_880/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.441, 0.463]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.518, 0.451]). The trajectory involves 56 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_880", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_880.json" + } + }, + { + "id": "maniskill_StackCube_out_903", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_903/frame_0042.jpg", + "maniskill/StackCube/images/episode_903/frame_0060.jpg", + "maniskill/StackCube/images/episode_903/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.335, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.421]). The trajectory involves 60 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_903", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_903.json" + } + }, + { + "id": "maniskill_StackCube_out_674", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_674/frame_0050.jpg", + "maniskill/StackCube/images/episode_674/frame_0092.jpg", + "maniskill/StackCube/images/episode_674/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.455, 0.721]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.431, 0.503]). The trajectory involves 59 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_674", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 42, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_674.json" + } + }, + { + "id": "maniskill_StackCube_out_199", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_199/frame_0054.jpg", + "maniskill/StackCube/images/episode_199/frame_0072.jpg", + "maniskill/StackCube/images/episode_199/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.282, 0.471]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.287, 0.479]). The trajectory involves 48 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_199", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_199.json" + } + }, + { + "id": "maniskill_StackCube_out_44", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_44/frame_0038.jpg", + "maniskill/StackCube/images/episode_44/frame_0082.jpg", + "maniskill/StackCube/images/episode_44/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.272, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.256, 0.514]). The trajectory involves 58 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_44", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 44, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_44.json" + } + }, + { + "id": "maniskill_StackCube_out_123", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_123/frame_0052.jpg", + "maniskill/StackCube/images/episode_123/frame_0070.jpg", + "maniskill/StackCube/images/episode_123/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.422, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.416, 0.460]). The trajectory involves 60 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_123", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_123.json" + } + }, + { + "id": "maniskill_StackCube_out_52", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_52/frame_0050.jpg", + "maniskill/StackCube/images/episode_52/frame_0095.jpg", + "maniskill/StackCube/images/episode_52/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.377, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.514]). The trajectory involves 56 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_52", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 45, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_52.json" + } + }, + { + "id": "maniskill_StackCube_out_92", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_92/frame_0044.jpg", + "maniskill/StackCube/images/episode_92/frame_0063.jpg", + "maniskill/StackCube/images/episode_92/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.312, 0.455]). The trajectory involves 56 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_92", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 19, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_92.json" + } + }, + { + "id": "maniskill_StackCube_out_410", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_410/frame_0055.jpg", + "maniskill/StackCube/images/episode_410/frame_0095.jpg", + "maniskill/StackCube/images/episode_410/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.323, 0.470]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.368, 0.500]). The trajectory involves 49 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_410", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 40, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_410.json" + } + }, + { + "id": "maniskill_StackCube_out_32", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_32/frame_0048.jpg", + "maniskill/StackCube/images/episode_32/frame_0066.jpg", + "maniskill/StackCube/images/episode_32/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.415, 0.556]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.334, 0.474]). The trajectory involves 48 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_32", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_32.json" + } + }, + { + "id": "maniskill_StackCube_out_497", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_497/frame_0055.jpg", + "maniskill/StackCube/images/episode_497/frame_0099.jpg", + "maniskill/StackCube/images/episode_497/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.296, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.353, 0.566]). The trajectory involves 57 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_497", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 44, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_497.json" + } + }, + { + "id": "maniskill_StackCube_out_490", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_490/frame_0034.jpg", + "maniskill/StackCube/images/episode_490/frame_0079.jpg", + "maniskill/StackCube/images/episode_490/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.273, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.479, 0.538]). The trajectory involves 59 precise waypoints with total movement distance of 0.328." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_490", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_490.json" + } + }, + { + "id": "maniskill_StackCube_out_872", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_872/frame_0036.jpg", + "maniskill/StackCube/images/episode_872/frame_0075.jpg", + "maniskill/StackCube/images/episode_872/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.350, 0.506]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.531]). The trajectory involves 48 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_872", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 39, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_872.json" + } + }, + { + "id": "maniskill_StackCube_out_536", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_536/frame_0037.jpg", + "maniskill/StackCube/images/episode_536/frame_0075.jpg", + "maniskill/StackCube/images/episode_536/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.321, 0.507]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.338, 0.534]). The trajectory involves 46 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_536", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 38, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_536.json" + } + }, + { + "id": "maniskill_StackCube_out_118", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_118/frame_0043.jpg", + "maniskill/StackCube/images/episode_118/frame_0061.jpg", + "maniskill/StackCube/images/episode_118/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.380, 0.454]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.343, 0.437]). The trajectory involves 48 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_118", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_118.json" + } + }, + { + "id": "maniskill_StackCube_out_628", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_628/frame_0037.jpg", + "maniskill/StackCube/images/episode_628/frame_0056.jpg", + "maniskill/StackCube/images/episode_628/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.513, 0.678]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.540, 0.568]). The trajectory involves 57 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_628", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 19, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_628.json" + } + }, + { + "id": "maniskill_StackCube_out_607", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_607/frame_0053.jpg", + "maniskill/StackCube/images/episode_607/frame_0071.jpg", + "maniskill/StackCube/images/episode_607/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.433, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.384, 0.467]). The trajectory involves 57 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_607", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_607.json" + } + }, + { + "id": "maniskill_StackCube_out_861", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_861/frame_0036.jpg", + "maniskill/StackCube/images/episode_861/frame_0054.jpg", + "maniskill/StackCube/images/episode_861/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.444, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.360, 0.454]). The trajectory involves 51 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_861", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_861.json" + } + }, + { + "id": "maniskill_StackCube_out_970", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_970/frame_0038.jpg", + "maniskill/StackCube/images/episode_970/frame_0056.jpg", + "maniskill/StackCube/images/episode_970/frame_0081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.428, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.378, 0.452]). The trajectory involves 44 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_970", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_970.json" + } + }, + { + "id": "maniskill_StackCube_out_51", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_51/frame_0049.jpg", + "maniskill/StackCube/images/episode_51/frame_0067.jpg", + "maniskill/StackCube/images/episode_51/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.413, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.407]). The trajectory involves 53 precise waypoints with total movement distance of 0.111." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_51", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_51.json" + } + }, + { + "id": "maniskill_StackCube_out_28", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_28/frame_0041.jpg", + "maniskill/StackCube/images/episode_28/frame_0084.jpg", + "maniskill/StackCube/images/episode_28/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.355, 0.456]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.526, 0.481]). The trajectory involves 57 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_28", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 43, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_28.json" + } + }, + { + "id": "maniskill_StackCube_out_562", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_562/frame_0043.jpg", + "maniskill/StackCube/images/episode_562/frame_0083.jpg", + "maniskill/StackCube/images/episode_562/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.382, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.243, 0.457]). The trajectory involves 52 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_562", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_562.json" + } + }, + { + "id": "maniskill_StackCube_out_110", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_110/frame_0043.jpg", + "maniskill/StackCube/images/episode_110/frame_0087.jpg", + "maniskill/StackCube/images/episode_110/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.363, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.304, 0.554]). The trajectory involves 59 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_110", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 44, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_110.json" + } + }, + { + "id": "maniskill_StackCube_out_119", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_119/frame_0038.jpg", + "maniskill/StackCube/images/episode_119/frame_0076.jpg", + "maniskill/StackCube/images/episode_119/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.374, 0.509]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.456, 0.502]). The trajectory involves 46 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_119", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 38, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_119.json" + } + }, + { + "id": "maniskill_StackCube_out_302", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_302/frame_0048.jpg", + "maniskill/StackCube/images/episode_302/frame_0066.jpg", + "maniskill/StackCube/images/episode_302/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.397, 0.462]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.429]). The trajectory involves 48 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_302", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_302.json" + } + }, + { + "id": "maniskill_StackCube_out_776", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_776/frame_0034.jpg", + "maniskill/StackCube/images/episode_776/frame_0071.jpg", + "maniskill/StackCube/images/episode_776/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.288, 0.481]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.349, 0.482]). The trajectory involves 50 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_776", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 37, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_776.json" + } + }, + { + "id": "maniskill_StackCube_out_752", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_752/frame_0057.jpg", + "maniskill/StackCube/images/episode_752/frame_0075.jpg", + "maniskill/StackCube/images/episode_752/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.549, 0.648]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.576, 0.565]). The trajectory involves 54 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_752", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_752.json" + } + }, + { + "id": "maniskill_StackCube_out_866", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_866/frame_0045.jpg", + "maniskill/StackCube/images/episode_866/frame_0082.jpg", + "maniskill/StackCube/images/episode_866/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.420, 0.464]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.490, 0.464]). The trajectory involves 44 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_866", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 37, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_866.json" + } + }, + { + "id": "maniskill_StackCube_out_286", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_286/frame_0052.jpg", + "maniskill/StackCube/images/episode_286/frame_0070.jpg", + "maniskill/StackCube/images/episode_286/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.528, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.428, 0.512]). The trajectory involves 57 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_286", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_286.json" + } + }, + { + "id": "maniskill_StackCube_out_812", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_812/frame_0046.jpg", + "maniskill/StackCube/images/episode_812/frame_0064.jpg", + "maniskill/StackCube/images/episode_812/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.473, 0.568]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.451]). The trajectory involves 53 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_812", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_812.json" + } + }, + { + "id": "maniskill_StackCube_out_290", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_290/frame_0063.jpg", + "maniskill/StackCube/images/episode_290/frame_0105.jpg", + "maniskill/StackCube/images/episode_290/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.547, 0.684]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.308, 0.503]). The trajectory involves 61 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_290", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 42, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_290.json" + } + }, + { + "id": "maniskill_StackCube_out_997", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_997/frame_0037.jpg", + "maniskill/StackCube/images/episode_997/frame_0055.jpg", + "maniskill/StackCube/images/episode_997/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.294, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.372, 0.406]). The trajectory involves 60 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_997", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_997.json" + } + }, + { + "id": "maniskill_StackCube_out_700", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_700/frame_0047.jpg", + "maniskill/StackCube/images/episode_700/frame_0089.jpg", + "maniskill/StackCube/images/episode_700/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.360, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.489, 0.523]). The trajectory involves 53 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_700", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 42, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_700.json" + } + }, + { + "id": "maniskill_StackCube_out_808", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_808/frame_0054.jpg", + "maniskill/StackCube/images/episode_808/frame_0095.jpg", + "maniskill/StackCube/images/episode_808/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.491, 0.628]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.362, 0.463]). The trajectory involves 55 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_808", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 41, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_808.json" + } + }, + { + "id": "maniskill_StackCube_out_711", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_711/frame_0036.jpg", + "maniskill/StackCube/images/episode_711/frame_0076.jpg", + "maniskill/StackCube/images/episode_711/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.349, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.452, 0.552]). The trajectory involves 53 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_711", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 40, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_711.json" + } + }, + { + "id": "maniskill_StackCube_out_556", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_556/frame_0036.jpg", + "maniskill/StackCube/images/episode_556/frame_0082.jpg", + "maniskill/StackCube/images/episode_556/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.330, 0.462]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.590]). The trajectory involves 60 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_556", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 46, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_556.json" + } + }, + { + "id": "maniskill_StackCube_out_398", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_398/frame_0048.jpg", + "maniskill/StackCube/images/episode_398/frame_0094.jpg", + "maniskill/StackCube/images/episode_398/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.449, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.364, 0.556]). The trajectory involves 61 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_398", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 46, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_398.json" + } + }, + { + "id": "maniskill_StackCube_out_644", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_644/frame_0034.jpg", + "maniskill/StackCube/images/episode_644/frame_0079.jpg", + "maniskill/StackCube/images/episode_644/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.338, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.363, 0.624]). The trajectory involves 62 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_644", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 45, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_644.json" + } + }, + { + "id": "maniskill_StackCube_out_971", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_971/frame_0047.jpg", + "maniskill/StackCube/images/episode_971/frame_0090.jpg", + "maniskill/StackCube/images/episode_971/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.439, 0.606]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.477, 0.662]). The trajectory involves 54 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_971", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 43, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_971.json" + } + }, + { + "id": "maniskill_StackCube_out_108", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_108/frame_0046.jpg", + "maniskill/StackCube/images/episode_108/frame_0064.jpg", + "maniskill/StackCube/images/episode_108/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.408, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.363, 0.428]). The trajectory involves 52 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_108", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_108.json" + } + }, + { + "id": "maniskill_StackCube_out_809", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_809/frame_0041.jpg", + "maniskill/StackCube/images/episode_809/frame_0084.jpg", + "maniskill/StackCube/images/episode_809/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.514, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.328, 0.471]). The trajectory involves 60 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_809", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 43, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_809.json" + } + }, + { + "id": "maniskill_StackCube_out_939", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_939/frame_0034.jpg", + "maniskill/StackCube/images/episode_939/frame_0052.jpg", + "maniskill/StackCube/images/episode_939/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.406, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.467]). The trajectory involves 67 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_939", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_939.json" + } + }, + { + "id": "maniskill_StackCube_out_135", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_135/frame_0055.jpg", + "maniskill/StackCube/images/episode_135/frame_0073.jpg", + "maniskill/StackCube/images/episode_135/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.324, 0.418]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.266, 0.430]). The trajectory involves 63 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_135", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 18, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_135.json" + } + }, + { + "id": "maniskill_StackCube_out_88", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_88/frame_0046.jpg", + "maniskill/StackCube/images/episode_88/frame_0087.jpg", + "maniskill/StackCube/images/episode_88/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.434, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.518]). The trajectory involves 56 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_88", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 41, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_88.json" + } + }, + { + "id": "maniskill_StackCube_out_792", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_792/frame_0042.jpg", + "maniskill/StackCube/images/episode_792/frame_0079.jpg", + "maniskill/StackCube/images/episode_792/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.516, 0.557]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.435, 0.471]). The trajectory involves 50 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_792", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 37, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_792.json" + } + }, + { + "id": "maniskill_StackCube_out_758", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_758/frame_0041.jpg", + "maniskill/StackCube/images/episode_758/frame_0081.jpg", + "maniskill/StackCube/images/episode_758/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.436, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.552, 0.505]). The trajectory involves 56 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_758", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 40, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_758.json" + } + }, + { + "id": "maniskill_StackCube_out_61", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_61/frame_0052.jpg", + "maniskill/StackCube/images/episode_61/frame_0070.jpg", + "maniskill/StackCube/images/episode_61/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.348, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.357, 0.436]). The trajectory involves 51 precise waypoints with total movement distance of 0.094." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_61", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_61.json" + } + }, + { + "id": "maniskill_StackCube_out_528", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_528/frame_0051.jpg", + "maniskill/StackCube/images/episode_528/frame_0069.jpg", + "maniskill/StackCube/images/episode_528/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.441, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.390, 0.464]). The trajectory involves 58 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_528", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_528.json" + } + }, + { + "id": "maniskill_StackCube_out_766", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_766/frame_0032.jpg", + "maniskill/StackCube/images/episode_766/frame_0050.jpg", + "maniskill/StackCube/images/episode_766/frame_0079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.432, 0.532]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.465]). The trajectory involves 48 precise waypoints with total movement distance of 0.097." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_766", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_766.json" + } + }, + { + "id": "maniskill_StackCube_out_567", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_567/frame_0045.jpg", + "maniskill/StackCube/images/episode_567/frame_0064.jpg", + "maniskill/StackCube/images/episode_567/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.383, 0.562]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.483]). The trajectory involves 59 precise waypoints with total movement distance of 0.103." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_567", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 19, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_567.json" + } + }, + { + "id": "maniskill_StackCube_out_103", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_103/frame_0042.jpg", + "maniskill/StackCube/images/episode_103/frame_0060.jpg", + "maniskill/StackCube/images/episode_103/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.418, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.328, 0.390]). The trajectory involves 59 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_103", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_103.json" + } + }, + { + "id": "maniskill_StackCube_out_818", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_818/frame_0045.jpg", + "maniskill/StackCube/images/episode_818/frame_0063.jpg", + "maniskill/StackCube/images/episode_818/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.497, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.550, 0.463]). The trajectory involves 78 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_818", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 18, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_818.json" + } + }, + { + "id": "maniskill_StackCube_out_841", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_841/frame_0053.jpg", + "maniskill/StackCube/images/episode_841/frame_0099.jpg", + "maniskill/StackCube/images/episode_841/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.265, 0.551]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.390, 0.627]). The trajectory involves 65 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_841", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 46, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_841.json" + } + }, + { + "id": "maniskill_StackCube_out_932", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_932/frame_0037.jpg", + "maniskill/StackCube/images/episode_932/frame_0086.jpg", + "maniskill/StackCube/images/episode_932/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.337, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.516, 0.532]). The trajectory involves 66 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_932", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 49, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_932.json" + } + }, + { + "id": "maniskill_StackCube_out_925", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_925/frame_0057.jpg", + "maniskill/StackCube/images/episode_925/frame_0076.jpg", + "maniskill/StackCube/images/episode_925/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.266, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.267, 0.429]). The trajectory involves 59 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_925", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 19, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_925.json" + } + }, + { + "id": "maniskill_StackCube_out_467", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_467/frame_0051.jpg", + "maniskill/StackCube/images/episode_467/frame_0069.jpg", + "maniskill/StackCube/images/episode_467/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.348, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.339, 0.499]). The trajectory involves 51 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_467", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_467.json" + } + }, + { + "id": "maniskill_StackCube_out_697", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_697/frame_0041.jpg", + "maniskill/StackCube/images/episode_697/frame_0059.jpg", + "maniskill/StackCube/images/episode_697/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.309, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.353, 0.415]). The trajectory involves 46 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_697", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_697.json" + } + }, + { + "id": "maniskill_StackCube_out_804", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_804/frame_0051.jpg", + "maniskill/StackCube/images/episode_804/frame_0090.jpg", + "maniskill/StackCube/images/episode_804/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.452, 0.602]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.353, 0.537]). The trajectory involves 53 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_804", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 39, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_804.json" + } + }, + { + "id": "maniskill_StackCube_out_611", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_611/frame_0041.jpg", + "maniskill/StackCube/images/episode_611/frame_0086.jpg", + "maniskill/StackCube/images/episode_611/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.458, 0.644]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.367, 0.458]). The trajectory involves 67 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_611", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 45, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_611.json" + } + }, + { + "id": "maniskill_StackCube_out_377", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_377/frame_0039.jpg", + "maniskill/StackCube/images/episode_377/frame_0057.jpg", + "maniskill/StackCube/images/episode_377/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.432, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.487, 0.456]). The trajectory involves 64 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_377", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 18, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_377.json" + } + }, + { + "id": "maniskill_StackCube_out_1", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_1/frame_0041.jpg", + "maniskill/StackCube/images/episode_1/frame_0059.jpg", + "maniskill/StackCube/images/episode_1/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.387, 0.490]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.340, 0.477]). The trajectory involves 48 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_1", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_1.json" + } + }, + { + "id": "maniskill_StackCube_out_732", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_732/frame_0039.jpg", + "maniskill/StackCube/images/episode_732/frame_0057.jpg", + "maniskill/StackCube/images/episode_732/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.477, 0.528]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.402, 0.485]). The trajectory involves 47 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_732", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 18, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_732.json" + } + }, + { + "id": "maniskill_StackCube_out_77", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_77/frame_0050.jpg", + "maniskill/StackCube/images/episode_77/frame_0097.jpg", + "maniskill/StackCube/images/episode_77/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.347, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.493, 0.520]). The trajectory involves 61 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_77", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 47, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_77.json" + } + }, + { + "id": "maniskill_StackCube_out_310", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_310/frame_0065.jpg", + "maniskill/StackCube/images/episode_310/frame_0085.jpg", + "maniskill/StackCube/images/episode_310/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.524, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.566, 0.499]). The trajectory involves 52 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_310", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 20, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_310.json" + } + }, + { + "id": "maniskill_StackCube_out_540", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_540/frame_0048.jpg", + "maniskill/StackCube/images/episode_540/frame_0089.jpg", + "maniskill/StackCube/images/episode_540/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.481, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.329, 0.459]). The trajectory involves 57 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_540", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 41, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_540.json" + } + }, + { + "id": "maniskill_StackCube_out_578", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_578/frame_0037.jpg", + "maniskill/StackCube/images/episode_578/frame_0078.jpg", + "maniskill/StackCube/images/episode_578/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.543, 0.660]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.403, 0.472]). The trajectory involves 55 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_578", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 41, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_578.json" + } + }, + { + "id": "maniskill_StackCube_out_263", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_263/frame_0050.jpg", + "maniskill/StackCube/images/episode_263/frame_0100.jpg", + "maniskill/StackCube/images/episode_263/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.301, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.601]). The trajectory involves 65 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_263", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 50, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_263.json" + } + }, + { + "id": "maniskill_StackCube_out_889", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_889/frame_0037.jpg", + "maniskill/StackCube/images/episode_889/frame_0081.jpg", + "maniskill/StackCube/images/episode_889/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.431, 0.583]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.243, 0.456]). The trajectory involves 60 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_889", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 44, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_889.json" + } + }, + { + "id": "maniskill_StackCube_out_367", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_367/frame_0042.jpg", + "maniskill/StackCube/images/episode_367/frame_0060.jpg", + "maniskill/StackCube/images/episode_367/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.513, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.420]). The trajectory involves 55 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_367", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_367.json" + } + }, + { + "id": "maniskill_StackCube_out_106", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_106/frame_0049.jpg", + "maniskill/StackCube/images/episode_106/frame_0067.jpg", + "maniskill/StackCube/images/episode_106/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.401, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.316, 0.505]). The trajectory involves 60 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_106", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_106.json" + } + }, + { + "id": "maniskill_StackCube_out_265", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_265/frame_0033.jpg", + "maniskill/StackCube/images/episode_265/frame_0051.jpg", + "maniskill/StackCube/images/episode_265/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.354, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.385, 0.423]). The trajectory involves 56 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_265", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_265.json" + } + }, + { + "id": "maniskill_StackCube_out_535", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_535/frame_0055.jpg", + "maniskill/StackCube/images/episode_535/frame_0073.jpg", + "maniskill/StackCube/images/episode_535/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.377, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.354, 0.438]). The trajectory involves 49 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_535", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_535.json" + } + }, + { + "id": "maniskill_StackCube_out_572", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_572/frame_0043.jpg", + "maniskill/StackCube/images/episode_572/frame_0085.jpg", + "maniskill/StackCube/images/episode_572/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.386, 0.582]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.442, 0.564]). The trajectory involves 54 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_572", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 42, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_572.json" + } + }, + { + "id": "maniskill_StackCube_out_673", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_673/frame_0042.jpg", + "maniskill/StackCube/images/episode_673/frame_0087.jpg", + "maniskill/StackCube/images/episode_673/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.296, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.222, 0.502]). The trajectory involves 59 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_673", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_673.json" + } + }, + { + "id": "maniskill_StackCube_out_326", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_326/frame_0037.jpg", + "maniskill/StackCube/images/episode_326/frame_0075.jpg", + "maniskill/StackCube/images/episode_326/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.443, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.556, 0.532]). The trajectory involves 48 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_326", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 38, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_326.json" + } + }, + { + "id": "maniskill_StackCube_out_749", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_749/frame_0039.jpg", + "maniskill/StackCube/images/episode_749/frame_0081.jpg", + "maniskill/StackCube/images/episode_749/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.463, 0.551]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.256, 0.445]). The trajectory involves 59 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_749", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 42, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_749.json" + } + }, + { + "id": "maniskill_StackCube_out_837", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_837/frame_0050.jpg", + "maniskill/StackCube/images/episode_837/frame_0091.jpg", + "maniskill/StackCube/images/episode_837/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.371, 0.608]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.447, 0.628]). The trajectory involves 55 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_837", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 41, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_837.json" + } + }, + { + "id": "maniskill_StackCube_out_357", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_357/frame_0052.jpg", + "maniskill/StackCube/images/episode_357/frame_0095.jpg", + "maniskill/StackCube/images/episode_357/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.359, 0.611]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.251, 0.506]). The trajectory involves 57 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_357", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 43, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_357.json" + } + }, + { + "id": "maniskill_StackCube_out_648", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_648/frame_0065.jpg", + "maniskill/StackCube/images/episode_648/frame_0084.jpg", + "maniskill/StackCube/images/episode_648/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.489, 0.682]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.564, 0.600]). The trajectory involves 58 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_648", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 19, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_648.json" + } + }, + { + "id": "maniskill_StackCube_out_157", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_157/frame_0056.jpg", + "maniskill/StackCube/images/episode_157/frame_0075.jpg", + "maniskill/StackCube/images/episode_157/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.340, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.405, 0.497]). The trajectory involves 56 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_157", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 19, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_157.json" + } + }, + { + "id": "maniskill_StackCube_out_492", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_492/frame_0035.jpg", + "maniskill/StackCube/images/episode_492/frame_0053.jpg", + "maniskill/StackCube/images/episode_492/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.303, 0.468]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.247, 0.456]). The trajectory involves 48 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_492", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_492.json" + } + }, + { + "id": "maniskill_StackCube_out_895", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_895/frame_0054.jpg", + "maniskill/StackCube/images/episode_895/frame_0074.jpg", + "maniskill/StackCube/images/episode_895/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.331, 0.607]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.294, 0.530]). The trajectory involves 49 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_895", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 20, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_895.json" + } + }, + { + "id": "maniskill_StackCube_out_733", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_733/frame_0042.jpg", + "maniskill/StackCube/images/episode_733/frame_0061.jpg", + "maniskill/StackCube/images/episode_733/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.396, 0.561]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.390, 0.425]). The trajectory involves 68 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_733", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 19, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_733.json" + } + }, + { + "id": "maniskill_StackCube_out_250", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_250/frame_0046.jpg", + "maniskill/StackCube/images/episode_250/frame_0064.jpg", + "maniskill/StackCube/images/episode_250/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.381, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.453]). The trajectory involves 54 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_250", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_250.json" + } + }, + { + "id": "maniskill_StackCube_out_588", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_588/frame_0039.jpg", + "maniskill/StackCube/images/episode_588/frame_0057.jpg", + "maniskill/StackCube/images/episode_588/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.495, 0.628]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.508, 0.479]). The trajectory involves 66 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_588", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 18, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_588.json" + } + }, + { + "id": "maniskill_StackCube_out_503", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_503/frame_0043.jpg", + "maniskill/StackCube/images/episode_503/frame_0082.jpg", + "maniskill/StackCube/images/episode_503/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.351, 0.507]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.543]). The trajectory involves 49 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_503", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 39, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_503.json" + } + }, + { + "id": "maniskill_StackCube_out_131", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_131/frame_0038.jpg", + "maniskill/StackCube/images/episode_131/frame_0056.jpg", + "maniskill/StackCube/images/episode_131/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.397, 0.474]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.328, 0.404]). The trajectory involves 49 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_131", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_131.json" + } + }, + { + "id": "maniskill_StackCube_out_824", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_824/frame_0060.jpg", + "maniskill/StackCube/images/episode_824/frame_0106.jpg", + "maniskill/StackCube/images/episode_824/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.418, 0.647]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.588, 0.620]). The trajectory involves 67 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_824", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 46, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_824.json" + } + }, + { + "id": "maniskill_StackCube_out_666", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_666/frame_0066.jpg", + "maniskill/StackCube/images/episode_666/frame_0111.jpg", + "maniskill/StackCube/images/episode_666/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.611, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.470]). The trajectory involves 59 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_666", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_666.json" + } + }, + { + "id": "maniskill_StackCube_out_838", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_838/frame_0045.jpg", + "maniskill/StackCube/images/episode_838/frame_0087.jpg", + "maniskill/StackCube/images/episode_838/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.465, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.312, 0.458]). The trajectory involves 54 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_838", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 42, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_838.json" + } + }, + { + "id": "maniskill_StackCube_out_269", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_269/frame_0049.jpg", + "maniskill/StackCube/images/episode_269/frame_0067.jpg", + "maniskill/StackCube/images/episode_269/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.446, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.376, 0.467]). The trajectory involves 58 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_269", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_269.json" + } + }, + { + "id": "maniskill_StackCube_out_301", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_301/frame_0050.jpg", + "maniskill/StackCube/images/episode_301/frame_0087.jpg", + "maniskill/StackCube/images/episode_301/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.298, 0.438]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.359, 0.427]). The trajectory involves 44 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_301", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 37, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_301.json" + } + }, + { + "id": "maniskill_StackCube_out_203", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_203/frame_0041.jpg", + "maniskill/StackCube/images/episode_203/frame_0081.jpg", + "maniskill/StackCube/images/episode_203/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.336, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.372, 0.482]). The trajectory involves 53 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_203", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 40, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_203.json" + } + }, + { + "id": "maniskill_StackCube_out_156", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_156/frame_0056.jpg", + "maniskill/StackCube/images/episode_156/frame_0074.jpg", + "maniskill/StackCube/images/episode_156/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.367, 0.421]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.346, 0.432]). The trajectory involves 63 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_156", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 18, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_156.json" + } + }, + { + "id": "maniskill_StackCube_out_987", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_987/frame_0037.jpg", + "maniskill/StackCube/images/episode_987/frame_0081.jpg", + "maniskill/StackCube/images/episode_987/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.260, 0.468]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.492]). The trajectory involves 57 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_987", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 44, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_987.json" + } + }, + { + "id": "maniskill_StackCube_out_961", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_961/frame_0048.jpg", + "maniskill/StackCube/images/episode_961/frame_0066.jpg", + "maniskill/StackCube/images/episode_961/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.512, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.467, 0.425]). The trajectory involves 67 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_961", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_961.json" + } + }, + { + "id": "maniskill_StackCube_out_606", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_606/frame_0055.jpg", + "maniskill/StackCube/images/episode_606/frame_0103.jpg", + "maniskill/StackCube/images/episode_606/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.246, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.391, 0.539]). The trajectory involves 62 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_606", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 48, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_606.json" + } + }, + { + "id": "maniskill_StackCube_out_603", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_603/frame_0037.jpg", + "maniskill/StackCube/images/episode_603/frame_0075.jpg", + "maniskill/StackCube/images/episode_603/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.288, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.338, 0.518]). The trajectory involves 51 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_603", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 38, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_603.json" + } + }, + { + "id": "maniskill_StackCube_out_986", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_986/frame_0059.jpg", + "maniskill/StackCube/images/episode_986/frame_0077.jpg", + "maniskill/StackCube/images/episode_986/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.428, 0.444]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.364, 0.419]). The trajectory involves 57 precise waypoints with total movement distance of 0.154." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_986", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_986.json" + } + }, + { + "id": "maniskill_StackCube_out_966", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_966/frame_0043.jpg", + "maniskill/StackCube/images/episode_966/frame_0087.jpg", + "maniskill/StackCube/images/episode_966/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.467, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.371, 0.539]). The trajectory involves 60 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_966", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 44, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_966.json" + } + }, + { + "id": "maniskill_StackCube_out_541", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_541/frame_0049.jpg", + "maniskill/StackCube/images/episode_541/frame_0087.jpg", + "maniskill/StackCube/images/episode_541/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.519, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.437, 0.440]). The trajectory involves 49 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_541", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 38, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_541.json" + } + }, + { + "id": "maniskill_StackCube_out_353", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_353/frame_0054.jpg", + "maniskill/StackCube/images/episode_353/frame_0093.jpg", + "maniskill/StackCube/images/episode_353/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.594, 0.602]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.480, 0.463]). The trajectory involves 51 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_353", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 39, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_353.json" + } + }, + { + "id": "maniskill_StackCube_out_280", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_280/frame_0039.jpg", + "maniskill/StackCube/images/episode_280/frame_0079.jpg", + "maniskill/StackCube/images/episode_280/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.380, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.292, 0.512]). The trajectory involves 51 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_280", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 40, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_280.json" + } + }, + { + "id": "maniskill_StackCube_out_566", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_566/frame_0058.jpg", + "maniskill/StackCube/images/episode_566/frame_0099.jpg", + "maniskill/StackCube/images/episode_566/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.593, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.480]). The trajectory involves 55 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_566", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 41, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_566.json" + } + }, + { + "id": "maniskill_StackCube_out_840", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_840/frame_0049.jpg", + "maniskill/StackCube/images/episode_840/frame_0090.jpg", + "maniskill/StackCube/images/episode_840/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.517, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.331, 0.400]). The trajectory involves 62 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_840", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 41, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_840.json" + } + }, + { + "id": "maniskill_StackCube_out_414", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_414/frame_0053.jpg", + "maniskill/StackCube/images/episode_414/frame_0106.jpg", + "maniskill/StackCube/images/episode_414/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.326, 0.419]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.439, 0.498]). The trajectory involves 64 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_414", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 53, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_414.json" + } + }, + { + "id": "maniskill_StackCube_out_943", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_943/frame_0036.jpg", + "maniskill/StackCube/images/episode_943/frame_0075.jpg", + "maniskill/StackCube/images/episode_943/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.351, 0.482]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.462, 0.476]). The trajectory involves 54 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_943", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 39, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_943.json" + } + }, + { + "id": "maniskill_StackCube_out_811", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_811/frame_0034.jpg", + "maniskill/StackCube/images/episode_811/frame_0052.jpg", + "maniskill/StackCube/images/episode_811/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.454, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.512, 0.449]). The trajectory involves 68 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_811", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 18, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_811.json" + } + }, + { + "id": "maniskill_StackCube_out_221", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_221/frame_0042.jpg", + "maniskill/StackCube/images/episode_221/frame_0084.jpg", + "maniskill/StackCube/images/episode_221/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.355, 0.461]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.476, 0.526]). The trajectory involves 57 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_221", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 42, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_221.json" + } + }, + { + "id": "maniskill_StackCube_out_231", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_231/frame_0049.jpg", + "maniskill/StackCube/images/episode_231/frame_0067.jpg", + "maniskill/StackCube/images/episode_231/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.405, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.378, 0.425]). The trajectory involves 55 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_231", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_231.json" + } + }, + { + "id": "maniskill_StackCube_out_275", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_275/frame_0044.jpg", + "maniskill/StackCube/images/episode_275/frame_0082.jpg", + "maniskill/StackCube/images/episode_275/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.437, 0.566]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.348, 0.482]). The trajectory involves 48 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_275", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 38, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_275.json" + } + }, + { + "id": "maniskill_StackCube_out_165", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_165/frame_0042.jpg", + "maniskill/StackCube/images/episode_165/frame_0061.jpg", + "maniskill/StackCube/images/episode_165/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.354, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.236, 0.446]). The trajectory involves 60 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_165", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 19, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_165.json" + } + }, + { + "id": "maniskill_StackCube_out_571", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_571/frame_0051.jpg", + "maniskill/StackCube/images/episode_571/frame_0091.jpg", + "maniskill/StackCube/images/episode_571/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.400, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.476]). The trajectory involves 61 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_571", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 40, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_571.json" + } + }, + { + "id": "maniskill_StackCube_out_682", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_682/frame_0054.jpg", + "maniskill/StackCube/images/episode_682/frame_0072.jpg", + "maniskill/StackCube/images/episode_682/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.344, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.387, 0.420]). The trajectory involves 64 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_682", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 18, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_682.json" + } + }, + { + "id": "maniskill_StackCube_out_87", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_87/frame_0048.jpg", + "maniskill/StackCube/images/episode_87/frame_0093.jpg", + "maniskill/StackCube/images/episode_87/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.442, 0.470]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.538]). The trajectory involves 56 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_87", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 45, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_87.json" + } + }, + { + "id": "maniskill_StackCube_out_677", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_677/frame_0035.jpg", + "maniskill/StackCube/images/episode_677/frame_0079.jpg", + "maniskill/StackCube/images/episode_677/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.454, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.251, 0.458]). The trajectory involves 61 precise waypoints with total movement distance of 0.303." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_677", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 44, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_677.json" + } + }, + { + "id": "maniskill_StackCube_out_953", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_953/frame_0051.jpg", + "maniskill/StackCube/images/episode_953/frame_0087.jpg", + "maniskill/StackCube/images/episode_953/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.396, 0.474]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.443, 0.482]). The trajectory involves 43 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_953", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 36, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_953.json" + } + }, + { + "id": "maniskill_StackCube_out_455", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_455/frame_0052.jpg", + "maniskill/StackCube/images/episode_455/frame_0105.jpg", + "maniskill/StackCube/images/episode_455/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.283, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.475, 0.702]). The trajectory involves 68 precise waypoints with total movement distance of 0.389." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_455", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 53, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_455.json" + } + }, + { + "id": "maniskill_StackCube_out_9", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_9/frame_0053.jpg", + "maniskill/StackCube/images/episode_9/frame_0071.jpg", + "maniskill/StackCube/images/episode_9/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.374, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.413]). The trajectory involves 56 precise waypoints with total movement distance of 0.083." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_9", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_9.json" + } + }, + { + "id": "maniskill_StackCube_out_509", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_509/frame_0052.jpg", + "maniskill/StackCube/images/episode_509/frame_0101.jpg", + "maniskill/StackCube/images/episode_509/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.216, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.409, 0.629]). The trajectory involves 67 precise waypoints with total movement distance of 0.371." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_509", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 49, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_509.json" + } + }, + { + "id": "maniskill_StackCube_out_658", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_658/frame_0048.jpg", + "maniskill/StackCube/images/episode_658/frame_0093.jpg", + "maniskill/StackCube/images/episode_658/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.535, 0.584]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.283, 0.497]). The trajectory involves 63 precise waypoints with total movement distance of 0.357." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_658", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 45, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_658.json" + } + }, + { + "id": "maniskill_StackCube_out_35", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_35/frame_0042.jpg", + "maniskill/StackCube/images/episode_35/frame_0090.jpg", + "maniskill/StackCube/images/episode_35/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.360, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.522]). The trajectory involves 64 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_35", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 48, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_35.json" + } + }, + { + "id": "maniskill_StackCube_out_495", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_495/frame_0058.jpg", + "maniskill/StackCube/images/episode_495/frame_0076.jpg", + "maniskill/StackCube/images/episode_495/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.309, 0.437]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.296, 0.431]). The trajectory involves 49 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_495", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_495.json" + } + }, + { + "id": "maniskill_StackCube_out_237", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_237/frame_0052.jpg", + "maniskill/StackCube/images/episode_237/frame_0098.jpg", + "maniskill/StackCube/images/episode_237/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.252, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.403, 0.571]). The trajectory involves 62 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_237", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 46, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_237.json" + } + }, + { + "id": "maniskill_StackCube_out_304", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_304/frame_0036.jpg", + "maniskill/StackCube/images/episode_304/frame_0077.jpg", + "maniskill/StackCube/images/episode_304/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.358, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.453, 0.595]). The trajectory involves 52 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_304", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_304.json" + } + }, + { + "id": "maniskill_StackCube_out_384", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_384/frame_0048.jpg", + "maniskill/StackCube/images/episode_384/frame_0094.jpg", + "maniskill/StackCube/images/episode_384/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.446, 0.631]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.346, 0.468]). The trajectory involves 60 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_384", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 46, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_384.json" + } + }, + { + "id": "maniskill_StackCube_out_363", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_363/frame_0056.jpg", + "maniskill/StackCube/images/episode_363/frame_0077.jpg", + "maniskill/StackCube/images/episode_363/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.264, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.346, 0.488]). The trajectory involves 70 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_363", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 21, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_363.json" + } + }, + { + "id": "maniskill_StackCube_out_544", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_544/frame_0039.jpg", + "maniskill/StackCube/images/episode_544/frame_0080.jpg", + "maniskill/StackCube/images/episode_544/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.365, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.504, 0.597]). The trajectory involves 53 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_544", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 41, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_544.json" + } + }, + { + "id": "maniskill_StackCube_out_539", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_539/frame_0042.jpg", + "maniskill/StackCube/images/episode_539/frame_0060.jpg", + "maniskill/StackCube/images/episode_539/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.480, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.566, 0.505]). The trajectory involves 64 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_539", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 18, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_539.json" + } + }, + { + "id": "maniskill_StackCube_out_371", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_371/frame_0033.jpg", + "maniskill/StackCube/images/episode_371/frame_0078.jpg", + "maniskill/StackCube/images/episode_371/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.417, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.462, 0.701]). The trajectory involves 61 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_371", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 45, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_371.json" + } + }, + { + "id": "maniskill_StackCube_out_282", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_282/frame_0062.jpg", + "maniskill/StackCube/images/episode_282/frame_0107.jpg", + "maniskill/StackCube/images/episode_282/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.411, 0.678]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.569, 0.647]). The trajectory involves 64 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_282", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 45, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_282.json" + } + }, + { + "id": "maniskill_StackCube_out_181", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_181/frame_0067.jpg", + "maniskill/StackCube/images/episode_181/frame_0111.jpg", + "maniskill/StackCube/images/episode_181/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.539, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.576, 0.494]). The trajectory involves 51 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_181", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 44, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_181.json" + } + }, + { + "id": "maniskill_StackCube_out_833", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_833/frame_0037.jpg", + "maniskill/StackCube/images/episode_833/frame_0075.jpg", + "maniskill/StackCube/images/episode_833/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.343, 0.507]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.346, 0.520]). The trajectory involves 49 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_833", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 38, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_833.json" + } + }, + { + "id": "maniskill_StackCube_out_264", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_264/frame_0049.jpg", + "maniskill/StackCube/images/episode_264/frame_0067.jpg", + "maniskill/StackCube/images/episode_264/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.448, 0.468]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.408, 0.488]). The trajectory involves 60 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_264", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 18, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_264.json" + } + }, + { + "id": "maniskill_StackCube_out_813", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_813/frame_0054.jpg", + "maniskill/StackCube/images/episode_813/frame_0092.jpg", + "maniskill/StackCube/images/episode_813/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.543, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.446]). The trajectory involves 47 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_813", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 38, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_813.json" + } + }, + { + "id": "maniskill_StackCube_out_147", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_147/frame_0042.jpg", + "maniskill/StackCube/images/episode_147/frame_0060.jpg", + "maniskill/StackCube/images/episode_147/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.434, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.440]). The trajectory involves 55 precise waypoints with total movement distance of 0.103." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_147", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 18, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_147.json" + } + }, + { + "id": "maniskill_StackCube_out_870", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_870/frame_0045.jpg", + "maniskill/StackCube/images/episode_870/frame_0085.jpg", + "maniskill/StackCube/images/episode_870/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.302, 0.528]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.365, 0.506]). The trajectory involves 50 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_870", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 40, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_870.json" + } + }, + { + "id": "maniskill_StackCube_out_167", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_167/frame_0054.jpg", + "maniskill/StackCube/images/episode_167/frame_0089.jpg", + "maniskill/StackCube/images/episode_167/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.347, 0.469]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.375, 0.461]). The trajectory involves 43 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_167", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 35, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_167.json" + } + }, + { + "id": "maniskill_StackCube_out_874", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_874/frame_0049.jpg", + "maniskill/StackCube/images/episode_874/frame_0094.jpg", + "maniskill/StackCube/images/episode_874/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.394, 0.449]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.501]). The trajectory involves 60 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_874", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 45, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_874.json" + } + }, + { + "id": "maniskill_StackCube_out_134", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_134/frame_0045.jpg", + "maniskill/StackCube/images/episode_134/frame_0086.jpg", + "maniskill/StackCube/images/episode_134/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.319, 0.429]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.446, 0.428]). The trajectory involves 60 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_134", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 41, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_134.json" + } + }, + { + "id": "maniskill_StackCube_out_867", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_867/frame_0059.jpg", + "maniskill/StackCube/images/episode_867/frame_0099.jpg", + "maniskill/StackCube/images/episode_867/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.523, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.458]). The trajectory involves 53 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_867", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 40, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_867.json" + } + }, + { + "id": "maniskill_StackCube_out_247", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_247/frame_0038.jpg", + "maniskill/StackCube/images/episode_247/frame_0083.jpg", + "maniskill/StackCube/images/episode_247/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.464, 0.549]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.322, 0.567]). The trajectory involves 64 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_247", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 45, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_247.json" + } + }, + { + "id": "maniskill_StackCube_out_698", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_698/frame_0056.jpg", + "maniskill/StackCube/images/episode_698/frame_0074.jpg", + "maniskill/StackCube/images/episode_698/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.294, 0.469]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.351, 0.420]). The trajectory involves 53 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_698", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_698.json" + } + }, + { + "id": "maniskill_StackCube_out_952", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_952/frame_0044.jpg", + "maniskill/StackCube/images/episode_952/frame_0063.jpg", + "maniskill/StackCube/images/episode_952/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.367, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.299, 0.502]). The trajectory involves 51 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_952", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 19, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_952.json" + } + }, + { + "id": "maniskill_StackCube_out_847", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_847/frame_0039.jpg", + "maniskill/StackCube/images/episode_847/frame_0057.jpg", + "maniskill/StackCube/images/episode_847/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.419, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.355, 0.431]). The trajectory involves 56 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_847", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_847.json" + } + }, + { + "id": "maniskill_StackCube_out_278", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_278/frame_0046.jpg", + "maniskill/StackCube/images/episode_278/frame_0064.jpg", + "maniskill/StackCube/images/episode_278/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.373, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.408]). The trajectory involves 58 precise waypoints with total movement distance of 0.096." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_278", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 18, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_278.json" + } + }, + { + "id": "maniskill_StackCube_out_175", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_175/frame_0044.jpg", + "maniskill/StackCube/images/episode_175/frame_0063.jpg", + "maniskill/StackCube/images/episode_175/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.433, 0.636]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.395, 0.561]). The trajectory involves 45 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_175", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 19, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_175.json" + } + }, + { + "id": "maniskill_StackCube_out_868", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_868/frame_0041.jpg", + "maniskill/StackCube/images/episode_868/frame_0079.jpg", + "maniskill/StackCube/images/episode_868/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.469, 0.607]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.376, 0.504]). The trajectory involves 48 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_868", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 38, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_868.json" + } + }, + { + "id": "maniskill_StackCube_out_305", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_305/frame_0037.jpg", + "maniskill/StackCube/images/episode_305/frame_0083.jpg", + "maniskill/StackCube/images/episode_305/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.381, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.268, 0.476]). The trajectory involves 62 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_305", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 46, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_305.json" + } + }, + { + "id": "maniskill_StackCube_out_49", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_49/frame_0038.jpg", + "maniskill/StackCube/images/episode_49/frame_0075.jpg", + "maniskill/StackCube/images/episode_49/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.585, 0.630]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.461, 0.511]). The trajectory involves 49 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_49", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 37, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_49.json" + } + }, + { + "id": "maniskill_StackCube_out_580", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_580/frame_0041.jpg", + "maniskill/StackCube/images/episode_580/frame_0084.jpg", + "maniskill/StackCube/images/episode_580/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.290, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.414, 0.572]). The trajectory involves 57 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_580", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 43, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_580.json" + } + }, + { + "id": "maniskill_StackCube_out_773", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_773/frame_0038.jpg", + "maniskill/StackCube/images/episode_773/frame_0056.jpg", + "maniskill/StackCube/images/episode_773/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.512, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.602, 0.533]). The trajectory involves 53 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_773", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_773.json" + } + }, + { + "id": "maniskill_StackCube_out_349", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_349/frame_0045.jpg", + "maniskill/StackCube/images/episode_349/frame_0064.jpg", + "maniskill/StackCube/images/episode_349/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.358, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.428, 0.499]). The trajectory involves 63 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_349", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 19, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_349.json" + } + }, + { + "id": "maniskill_StackCube_out_748", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_748/frame_0037.jpg", + "maniskill/StackCube/images/episode_748/frame_0075.jpg", + "maniskill/StackCube/images/episode_748/frame_0082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.369, 0.484]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.510]). The trajectory involves 46 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_748", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 38, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_748.json" + } + }, + { + "id": "maniskill_StackCube_out_570", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_570/frame_0040.jpg", + "maniskill/StackCube/images/episode_570/frame_0085.jpg", + "maniskill/StackCube/images/episode_570/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.460, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.280, 0.469]). The trajectory involves 59 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_570", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_570.json" + } + }, + { + "id": "maniskill_StackCube_out_486", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_486/frame_0037.jpg", + "maniskill/StackCube/images/episode_486/frame_0079.jpg", + "maniskill/StackCube/images/episode_486/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.272, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.476]). The trajectory involves 54 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_486", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 42, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_486.json" + } + }, + { + "id": "maniskill_StackCube_out_857", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_857/frame_0044.jpg", + "maniskill/StackCube/images/episode_857/frame_0094.jpg", + "maniskill/StackCube/images/episode_857/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.294, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.502, 0.604]). The trajectory involves 64 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_857", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 50, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_857.json" + } + }, + { + "id": "maniskill_StackCube_out_555", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_555/frame_0062.jpg", + "maniskill/StackCube/images/episode_555/frame_0081.jpg", + "maniskill/StackCube/images/episode_555/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.575, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.420, 0.486]). The trajectory involves 69 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_555", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 19, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_555.json" + } + }, + { + "id": "maniskill_StackCube_out_419", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_419/frame_0047.jpg", + "maniskill/StackCube/images/episode_419/frame_0065.jpg", + "maniskill/StackCube/images/episode_419/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.425, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.496, 0.470]). The trajectory involves 54 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_419", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_419.json" + } + }, + { + "id": "maniskill_StackCube_out_919", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_919/frame_0053.jpg", + "maniskill/StackCube/images/episode_919/frame_0101.jpg", + "maniskill/StackCube/images/episode_919/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.314, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.460, 0.540]). The trajectory involves 59 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_919", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 48, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_919.json" + } + }, + { + "id": "maniskill_StackCube_out_441", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_441/frame_0038.jpg", + "maniskill/StackCube/images/episode_441/frame_0077.jpg", + "maniskill/StackCube/images/episode_441/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.426, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.487]). The trajectory involves 55 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_441", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 39, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_441.json" + } + }, + { + "id": "maniskill_StackCube_out_96", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_96/frame_0038.jpg", + "maniskill/StackCube/images/episode_96/frame_0057.jpg", + "maniskill/StackCube/images/episode_96/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.296, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.378, 0.461]). The trajectory involves 61 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_96", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 19, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_96.json" + } + }, + { + "id": "maniskill_StackCube_out_277", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_277/frame_0044.jpg", + "maniskill/StackCube/images/episode_277/frame_0089.jpg", + "maniskill/StackCube/images/episode_277/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.425, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.528]). The trajectory involves 56 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_277", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 45, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_277.json" + } + }, + { + "id": "maniskill_StackCube_out_43", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_43/frame_0046.jpg", + "maniskill/StackCube/images/episode_43/frame_0086.jpg", + "maniskill/StackCube/images/episode_43/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.496, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.357, 0.427]). The trajectory involves 53 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_43", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 40, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_43.json" + } + }, + { + "id": "maniskill_StackCube_out_794", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_794/frame_0041.jpg", + "maniskill/StackCube/images/episode_794/frame_0059.jpg", + "maniskill/StackCube/images/episode_794/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.363, 0.470]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.330, 0.388]). The trajectory involves 64 precise waypoints with total movement distance of 0.106." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_794", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 18, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_794.json" + } + }, + { + "id": "maniskill_StackCube_out_546", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_546/frame_0050.jpg", + "maniskill/StackCube/images/episode_546/frame_0068.jpg", + "maniskill/StackCube/images/episode_546/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.423, 0.460]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.343, 0.450]). The trajectory involves 57 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_546", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_546.json" + } + }, + { + "id": "maniskill_StackCube_out_190", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_190/frame_0050.jpg", + "maniskill/StackCube/images/episode_190/frame_0092.jpg", + "maniskill/StackCube/images/episode_190/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.254, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.343, 0.476]). The trajectory involves 55 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_190", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 42, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_190.json" + } + }, + { + "id": "maniskill_StackCube_out_980", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_980/frame_0056.jpg", + "maniskill/StackCube/images/episode_980/frame_0074.jpg", + "maniskill/StackCube/images/episode_980/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.528, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.477, 0.573]). The trajectory involves 56 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_980", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_980.json" + } + }, + { + "id": "maniskill_StackCube_out_76", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_76/frame_0050.jpg", + "maniskill/StackCube/images/episode_76/frame_0069.jpg", + "maniskill/StackCube/images/episode_76/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.407, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.508, 0.515]). The trajectory involves 62 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_76", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 19, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_76.json" + } + }, + { + "id": "maniskill_StackCube_out_746", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_746/frame_0048.jpg", + "maniskill/StackCube/images/episode_746/frame_0092.jpg", + "maniskill/StackCube/images/episode_746/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.427, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.605, 0.497]). The trajectory involves 198 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_746", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 44, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_746.json" + } + }, + { + "id": "maniskill_StackCube_out_928", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_928/frame_0039.jpg", + "maniskill/StackCube/images/episode_928/frame_0057.jpg", + "maniskill/StackCube/images/episode_928/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.458, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.386, 0.540]). The trajectory involves 59 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_928", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_928.json" + } + }, + { + "id": "maniskill_StackCube_out_355", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_355/frame_0045.jpg", + "maniskill/StackCube/images/episode_355/frame_0082.jpg", + "maniskill/StackCube/images/episode_355/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.375, 0.467]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.478]). The trajectory involves 49 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_355", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 37, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_355.json" + } + }, + { + "id": "maniskill_StackCube_out_637", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_637/frame_0052.jpg", + "maniskill/StackCube/images/episode_637/frame_0096.jpg", + "maniskill/StackCube/images/episode_637/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.218, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.347, 0.435]). The trajectory involves 62 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_637", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 44, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_637.json" + } + }, + { + "id": "maniskill_StackCube_out_253", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_253/frame_0047.jpg", + "maniskill/StackCube/images/episode_253/frame_0092.jpg", + "maniskill/StackCube/images/episode_253/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.456, 0.487]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.330, 0.470]). The trajectory involves 59 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_253", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 45, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_253.json" + } + }, + { + "id": "maniskill_StackCube_out_608", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_608/frame_0045.jpg", + "maniskill/StackCube/images/episode_608/frame_0064.jpg", + "maniskill/StackCube/images/episode_608/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.423, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.358, 0.513]). The trajectory involves 52 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_608", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 19, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_608.json" + } + }, + { + "id": "maniskill_StackCube_out_696", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_696/frame_0051.jpg", + "maniskill/StackCube/images/episode_696/frame_0069.jpg", + "maniskill/StackCube/images/episode_696/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.520, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.417, 0.414]). The trajectory involves 65 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_696", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 18, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_696.json" + } + }, + { + "id": "maniskill_StackCube_out_330", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_330/frame_0036.jpg", + "maniskill/StackCube/images/episode_330/frame_0079.jpg", + "maniskill/StackCube/images/episode_330/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.495, 0.609]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.364, 0.613]). The trajectory involves 56 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_330", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 43, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_330.json" + } + }, + { + "id": "maniskill_StackCube_out_266", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_266/frame_0053.jpg", + "maniskill/StackCube/images/episode_266/frame_0097.jpg", + "maniskill/StackCube/images/episode_266/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.436, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.264, 0.473]). The trajectory involves 59 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_266", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 44, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_266.json" + } + }, + { + "id": "maniskill_StackCube_out_68", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_68/frame_0039.jpg", + "maniskill/StackCube/images/episode_68/frame_0057.jpg", + "maniskill/StackCube/images/episode_68/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.359, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.426, 0.443]). The trajectory involves 56 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_68", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 18, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_68.json" + } + }, + { + "id": "maniskill_StackCube_out_236", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_236/frame_0047.jpg", + "maniskill/StackCube/images/episode_236/frame_0066.jpg", + "maniskill/StackCube/images/episode_236/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.273, 0.525]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.339, 0.449]). The trajectory involves 59 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_236", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 19, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_236.json" + } + }, + { + "id": "maniskill_StackCube_out_313", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_313/frame_0047.jpg", + "maniskill/StackCube/images/episode_313/frame_0065.jpg", + "maniskill/StackCube/images/episode_313/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.404, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.347, 0.435]). The trajectory involves 43 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_313", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 18, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_313.json" + } + }, + { + "id": "maniskill_StackCube_out_786", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_786/frame_0051.jpg", + "maniskill/StackCube/images/episode_786/frame_0087.jpg", + "maniskill/StackCube/images/episode_786/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.546, 0.642]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.457, 0.547]). The trajectory involves 46 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_786", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 36, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_786.json" + } + }, + { + "id": "maniskill_StackCube_out_657", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_657/frame_0042.jpg", + "maniskill/StackCube/images/episode_657/frame_0060.jpg", + "maniskill/StackCube/images/episode_657/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.446, 0.554]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.366, 0.475]). The trajectory involves 47 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_657", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 18, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_657.json" + } + }, + { + "id": "maniskill_StackCube_out_440", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_440/frame_0047.jpg", + "maniskill/StackCube/images/episode_440/frame_0092.jpg", + "maniskill/StackCube/images/episode_440/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.423, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.649, 0.536]). The trajectory involves 67 precise waypoints with total movement distance of 0.338." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_440", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 45, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_440.json" + } + }, + { + "id": "maniskill_StackCube_out_137", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_137/frame_0049.jpg", + "maniskill/StackCube/images/episode_137/frame_0067.jpg", + "maniskill/StackCube/images/episode_137/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.469, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.372, 0.490]). The trajectory involves 62 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_137", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 18, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_137.json" + } + }, + { + "id": "maniskill_StackCube_out_819", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_819/frame_0053.jpg", + "maniskill/StackCube/images/episode_819/frame_0100.jpg", + "maniskill/StackCube/images/episode_819/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.364, 0.450]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.452, 0.534]). The trajectory involves 63 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_819", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 47, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_819.json" + } + }, + { + "id": "maniskill_StackCube_out_532", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_532/frame_0049.jpg", + "maniskill/StackCube/images/episode_532/frame_0067.jpg", + "maniskill/StackCube/images/episode_532/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.393, 0.460]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.374, 0.465]). The trajectory involves 53 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_532", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_532.json" + } + }, + { + "id": "maniskill_StackCube_out_787", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_787/frame_0061.jpg", + "maniskill/StackCube/images/episode_787/frame_0102.jpg", + "maniskill/StackCube/images/episode_787/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.289, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.411, 0.469]). The trajectory involves 53 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_787", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 41, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_787.json" + } + }, + { + "id": "maniskill_StackCube_out_21", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_21/frame_0041.jpg", + "maniskill/StackCube/images/episode_21/frame_0060.jpg", + "maniskill/StackCube/images/episode_21/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.459, 0.646]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.450, 0.509]). The trajectory involves 58 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_21", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 19, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_21.json" + } + }, + { + "id": "maniskill_StackCube_out_910", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_910/frame_0045.jpg", + "maniskill/StackCube/images/episode_910/frame_0086.jpg", + "maniskill/StackCube/images/episode_910/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.346, 0.434]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.449, 0.425]). The trajectory involves 54 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_910", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 41, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_910.json" + } + }, + { + "id": "maniskill_StackCube_out_120", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_120/frame_0048.jpg", + "maniskill/StackCube/images/episode_120/frame_0067.jpg", + "maniskill/StackCube/images/episode_120/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.317, 0.533]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.260, 0.493]). The trajectory involves 47 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_120", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 19, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_120.json" + } + }, + { + "id": "maniskill_StackCube_out_950", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_950/frame_0069.jpg", + "maniskill/StackCube/images/episode_950/frame_0088.jpg", + "maniskill/StackCube/images/episode_950/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.265, 0.548]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.312, 0.465]). The trajectory involves 55 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_950", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 19, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_950.json" + } + }, + { + "id": "maniskill_StackCube_out_438", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_438/frame_0042.jpg", + "maniskill/StackCube/images/episode_438/frame_0061.jpg", + "maniskill/StackCube/images/episode_438/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.371, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.342, 0.440]). The trajectory involves 64 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_438", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 19, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_438.json" + } + }, + { + "id": "maniskill_StackCube_out_991", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_991/frame_0043.jpg", + "maniskill/StackCube/images/episode_991/frame_0086.jpg", + "maniskill/StackCube/images/episode_991/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.496, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.362, 0.480]). The trajectory involves 58 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_991", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 43, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_991.json" + } + }, + { + "id": "maniskill_StackCube_out_704", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_704/frame_0034.jpg", + "maniskill/StackCube/images/episode_704/frame_0072.jpg", + "maniskill/StackCube/images/episode_704/frame_0080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.452, 0.583]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.505, 0.651]). The trajectory involves 47 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_704", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 38, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_704.json" + } + }, + { + "id": "maniskill_StackCube_out_935", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_935/frame_0040.jpg", + "maniskill/StackCube/images/episode_935/frame_0059.jpg", + "maniskill/StackCube/images/episode_935/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.298, 0.525]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.324, 0.445]). The trajectory involves 59 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_935", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 19, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_935.json" + } + }, + { + "id": "maniskill_StackCube_out_70", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_70/frame_0052.jpg", + "maniskill/StackCube/images/episode_70/frame_0089.jpg", + "maniskill/StackCube/images/episode_70/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.397, 0.460]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.459]). The trajectory involves 44 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_70", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 37, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_70.json" + } + }, + { + "id": "maniskill_StackCube_out_149", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_149/frame_0050.jpg", + "maniskill/StackCube/images/episode_149/frame_0068.jpg", + "maniskill/StackCube/images/episode_149/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.536, 0.544]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.488, 0.499]). The trajectory involves 45 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_149", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 18, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_149.json" + } + }, + { + "id": "maniskill_StackCube_out_537", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_537/frame_0048.jpg", + "maniskill/StackCube/images/episode_537/frame_0090.jpg", + "maniskill/StackCube/images/episode_537/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.603, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.450, 0.483]). The trajectory involves 57 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_537", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 42, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_537.json" + } + }, + { + "id": "maniskill_StackCube_out_625", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_625/frame_0042.jpg", + "maniskill/StackCube/images/episode_625/frame_0088.jpg", + "maniskill/StackCube/images/episode_625/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.420, 0.600]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.290, 0.470]). The trajectory involves 59 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_625", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 46, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_625.json" + } + }, + { + "id": "maniskill_StackCube_out_491", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_491/frame_0044.jpg", + "maniskill/StackCube/images/episode_491/frame_0062.jpg", + "maniskill/StackCube/images/episode_491/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.526, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.528, 0.488]). The trajectory involves 59 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_491", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 18, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_491.json" + } + }, + { + "id": "maniskill_StackCube_out_974", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_974/frame_0052.jpg", + "maniskill/StackCube/images/episode_974/frame_0091.jpg", + "maniskill/StackCube/images/episode_974/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.423, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.320, 0.502]). The trajectory involves 52 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_974", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 39, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_974.json" + } + }, + { + "id": "maniskill_StackCube_out_260", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_260/frame_0037.jpg", + "maniskill/StackCube/images/episode_260/frame_0075.jpg", + "maniskill/StackCube/images/episode_260/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.411, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.402, 0.533]). The trajectory involves 49 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_260", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 38, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_260.json" + } + }, + { + "id": "maniskill_StackCube_out_130", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_130/frame_0049.jpg", + "maniskill/StackCube/images/episode_130/frame_0068.jpg", + "maniskill/StackCube/images/episode_130/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.306, 0.519]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.247, 0.475]). The trajectory involves 50 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_130", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 19, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_130.json" + } + }, + { + "id": "maniskill_StackCube_out_913", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_913/frame_0059.jpg", + "maniskill/StackCube/images/episode_913/frame_0110.jpg", + "maniskill/StackCube/images/episode_913/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.258, 0.577]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.532]). The trajectory involves 72 precise waypoints with total movement distance of 0.330." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_913", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 51, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_913.json" + } + }, + { + "id": "maniskill_StackCube_out_876", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_876/frame_0038.jpg", + "maniskill/StackCube/images/episode_876/frame_0082.jpg", + "maniskill/StackCube/images/episode_876/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.355, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.551, 0.604]). The trajectory involves 57 precise waypoints with total movement distance of 0.347." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_876", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 44, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_876.json" + } + }, + { + "id": "maniskill_StackCube_out_102", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_102/frame_0052.jpg", + "maniskill/StackCube/images/episode_102/frame_0092.jpg", + "maniskill/StackCube/images/episode_102/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.504, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.436]). The trajectory involves 52 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_102", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_102.json" + } + }, + { + "id": "maniskill_StackCube_out_437", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_437/frame_0047.jpg", + "maniskill/StackCube/images/episode_437/frame_0090.jpg", + "maniskill/StackCube/images/episode_437/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.256, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.539]). The trajectory involves 56 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_437", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 43, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_437.json" + } + }, + { + "id": "maniskill_StackCube_out_25", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_25/frame_0039.jpg", + "maniskill/StackCube/images/episode_25/frame_0083.jpg", + "maniskill/StackCube/images/episode_25/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.331, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.502, 0.529]). The trajectory involves 61 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_25", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 44, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_25.json" + } + }, + { + "id": "maniskill_StackCube_out_66", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_66/frame_0050.jpg", + "maniskill/StackCube/images/episode_66/frame_0090.jpg", + "maniskill/StackCube/images/episode_66/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.449, 0.474]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.345, 0.421]). The trajectory involves 50 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_66", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 40, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_66.json" + } + }, + { + "id": "maniskill_StackCube_out_335", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_335/frame_0036.jpg", + "maniskill/StackCube/images/episode_335/frame_0077.jpg", + "maniskill/StackCube/images/episode_335/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.402, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.554, 0.562]). The trajectory involves 52 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_335", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 41, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_335.json" + } + }, + { + "id": "maniskill_StackCube_out_111", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_111/frame_0037.jpg", + "maniskill/StackCube/images/episode_111/frame_0077.jpg", + "maniskill/StackCube/images/episode_111/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.389, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.397, 0.507]). The trajectory involves 52 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_111", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 40, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_111.json" + } + }, + { + "id": "maniskill_StackCube_out_426", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_426/frame_0039.jpg", + "maniskill/StackCube/images/episode_426/frame_0079.jpg", + "maniskill/StackCube/images/episode_426/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.418, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.391, 0.605]). The trajectory involves 53 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_426", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 40, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_426.json" + } + }, + { + "id": "maniskill_StackCube_out_36", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_36/frame_0048.jpg", + "maniskill/StackCube/images/episode_36/frame_0092.jpg", + "maniskill/StackCube/images/episode_36/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.503, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.370, 0.455]). The trajectory involves 60 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_36", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 44, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_36.json" + } + }, + { + "id": "maniskill_StackCube_out_204", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_204/frame_0047.jpg", + "maniskill/StackCube/images/episode_204/frame_0065.jpg", + "maniskill/StackCube/images/episode_204/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.447, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.360, 0.415]). The trajectory involves 52 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_204", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_204.json" + } + }, + { + "id": "maniskill_StackCube_out_213", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_213/frame_0053.jpg", + "maniskill/StackCube/images/episode_213/frame_0103.jpg", + "maniskill/StackCube/images/episode_213/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.318, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.471, 0.592]). The trajectory involves 64 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_213", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 50, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_213.json" + } + }, + { + "id": "maniskill_StackCube_out_591", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_591/frame_0039.jpg", + "maniskill/StackCube/images/episode_591/frame_0057.jpg", + "maniskill/StackCube/images/episode_591/frame_0081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.410, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.356, 0.456]). The trajectory involves 43 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_591", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 18, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_591.json" + } + }, + { + "id": "maniskill_StackCube_out_744", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_744/frame_0053.jpg", + "maniskill/StackCube/images/episode_744/frame_0071.jpg", + "maniskill/StackCube/images/episode_744/frame_0098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.481, 0.475]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.423]). The trajectory involves 46 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_744", + "trajectory_length": 46, + "key_frame_indices": [ + 0, + 18, + 45 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_744.json" + } + }, + { + "id": "maniskill_StackCube_out_98", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_98/frame_0040.jpg", + "maniskill/StackCube/images/episode_98/frame_0058.jpg", + "maniskill/StackCube/images/episode_98/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.276, 0.438]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.216, 0.453]). The trajectory involves 57 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_98", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_98.json" + } + }, + { + "id": "maniskill_StackCube_out_262", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_262/frame_0035.jpg", + "maniskill/StackCube/images/episode_262/frame_0076.jpg", + "maniskill/StackCube/images/episode_262/frame_0085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.405, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.583]). The trajectory involves 51 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_262", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 41, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_262.json" + } + }, + { + "id": "maniskill_StackCube_out_267", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_267/frame_0047.jpg", + "maniskill/StackCube/images/episode_267/frame_0065.jpg", + "maniskill/StackCube/images/episode_267/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.389, 0.482]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.386, 0.490]). The trajectory involves 47 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_267", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 18, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_267.json" + } + }, + { + "id": "maniskill_StackCube_out_244", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_244/frame_0057.jpg", + "maniskill/StackCube/images/episode_244/frame_0100.jpg", + "maniskill/StackCube/images/episode_244/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.494, 0.478]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.598, 0.533]). The trajectory involves 52 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_244", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 43, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_244.json" + } + }, + { + "id": "maniskill_StackCube_out_311", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_311/frame_0049.jpg", + "maniskill/StackCube/images/episode_311/frame_0069.jpg", + "maniskill/StackCube/images/episode_311/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.266, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.300, 0.456]). The trajectory involves 56 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_311", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 20, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_311.json" + } + }, + { + "id": "maniskill_StackCube_out_937", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_937/frame_0039.jpg", + "maniskill/StackCube/images/episode_937/frame_0057.jpg", + "maniskill/StackCube/images/episode_937/frame_0086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.492, 0.588]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.430, 0.570]). The trajectory involves 48 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_937", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_937.json" + } + }, + { + "id": "maniskill_StackCube_out_17", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_17/frame_0044.jpg", + "maniskill/StackCube/images/episode_17/frame_0090.jpg", + "maniskill/StackCube/images/episode_17/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.506, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.333, 0.529]). The trajectory involves 63 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_17", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 46, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_17.json" + } + }, + { + "id": "maniskill_StackCube_out_981", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_981/frame_0055.jpg", + "maniskill/StackCube/images/episode_981/frame_0097.jpg", + "maniskill/StackCube/images/episode_981/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.304, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.431, 0.520]). The trajectory involves 55 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_981", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 42, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_981.json" + } + }, + { + "id": "maniskill_StackCube_out_730", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_730/frame_0063.jpg", + "maniskill/StackCube/images/episode_730/frame_0101.jpg", + "maniskill/StackCube/images/episode_730/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.531, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.414, 0.408]). The trajectory involves 52 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_730", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 38, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_730.json" + } + }, + { + "id": "maniskill_StackCube_out_618", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_618/frame_0044.jpg", + "maniskill/StackCube/images/episode_618/frame_0087.jpg", + "maniskill/StackCube/images/episode_618/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.300, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.390, 0.558]). The trajectory involves 54 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_618", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 43, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_618.json" + } + }, + { + "id": "maniskill_StackCube_out_306", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_306/frame_0041.jpg", + "maniskill/StackCube/images/episode_306/frame_0079.jpg", + "maniskill/StackCube/images/episode_306/frame_0091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.353, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.254, 0.434]). The trajectory involves 51 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_306", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 38, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_306.json" + } + }, + { + "id": "maniskill_StackCube_out_630", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_630/frame_0039.jpg", + "maniskill/StackCube/images/episode_630/frame_0059.jpg", + "maniskill/StackCube/images/episode_630/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.449, 0.600]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.342, 0.462]). The trajectory involves 61 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_630", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 20, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_630.json" + } + }, + { + "id": "maniskill_StackCube_out_687", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_687/frame_0043.jpg", + "maniskill/StackCube/images/episode_687/frame_0086.jpg", + "maniskill/StackCube/images/episode_687/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.320, 0.480]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.319, 0.536]). The trajectory involves 55 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_687", + "trajectory_length": 55, + "key_frame_indices": [ + 0, + 43, + 54 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_687.json" + } + }, + { + "id": "maniskill_StackCube_out_402", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_402/frame_0050.jpg", + "maniskill/StackCube/images/episode_402/frame_0094.jpg", + "maniskill/StackCube/images/episode_402/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.414, 0.653]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.297, 0.495]). The trajectory involves 58 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_402", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 44, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_402.json" + } + }, + { + "id": "maniskill_StackCube_out_750", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_750/frame_0043.jpg", + "maniskill/StackCube/images/episode_750/frame_0062.jpg", + "maniskill/StackCube/images/episode_750/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.329, 0.552]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.291, 0.474]). The trajectory involves 51 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_750", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 19, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_750.json" + } + }, + { + "id": "maniskill_StackCube_out_325", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_325/frame_0040.jpg", + "maniskill/StackCube/images/episode_325/frame_0081.jpg", + "maniskill/StackCube/images/episode_325/frame_0096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.342, 0.451]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.472, 0.440]). The trajectory involves 57 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_325", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 41, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_325.json" + } + }, + { + "id": "maniskill_StackCube_out_531", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_531/frame_0039.jpg", + "maniskill/StackCube/images/episode_531/frame_0087.jpg", + "maniskill/StackCube/images/episode_531/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.344, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.701]). The trajectory involves 65 precise waypoints with total movement distance of 0.378." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_531", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 48, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_531.json" + } + }, + { + "id": "maniskill_StackCube_out_869", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_869/frame_0045.jpg", + "maniskill/StackCube/images/episode_869/frame_0063.jpg", + "maniskill/StackCube/images/episode_869/frame_0088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.353, 0.436]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.388, 0.416]). The trajectory involves 44 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_869", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 18, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_869.json" + } + }, + { + "id": "maniskill_StackCube_out_957", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_957/frame_0045.jpg", + "maniskill/StackCube/images/episode_957/frame_0063.jpg", + "maniskill/StackCube/images/episode_957/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.536, 0.532]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.495, 0.504]). The trajectory involves 49 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_957", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_957.json" + } + }, + { + "id": "maniskill_StackCube_out_256", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_256/frame_0049.jpg", + "maniskill/StackCube/images/episode_256/frame_0091.jpg", + "maniskill/StackCube/images/episode_256/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.389, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.554, 0.525]). The trajectory involves 62 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_256", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 42, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_256.json" + } + }, + { + "id": "maniskill_StackCube_out_858", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_858/frame_0046.jpg", + "maniskill/StackCube/images/episode_858/frame_0090.jpg", + "maniskill/StackCube/images/episode_858/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.377, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.267, 0.453]). The trajectory involves 61 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_858", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 44, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_858.json" + } + }, + { + "id": "maniskill_StackCube_out_169", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_169/frame_0043.jpg", + "maniskill/StackCube/images/episode_169/frame_0082.jpg", + "maniskill/StackCube/images/episode_169/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.506, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.372, 0.414]). The trajectory involves 57 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_169", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 39, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_169.json" + } + }, + { + "id": "maniskill_StackCube_out_626", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_626/frame_0053.jpg", + "maniskill/StackCube/images/episode_626/frame_0071.jpg", + "maniskill/StackCube/images/episode_626/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.388, 0.536]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.344, 0.539]). The trajectory involves 49 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_626", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 18, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_626.json" + } + }, + { + "id": "maniskill_StackCube_out_917", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_917/frame_0050.jpg", + "maniskill/StackCube/images/episode_917/frame_0070.jpg", + "maniskill/StackCube/images/episode_917/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.261, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.282, 0.452]). The trajectory involves 56 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_917", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 20, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_917.json" + } + }, + { + "id": "maniskill_StackCube_out_517", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_517/frame_0037.jpg", + "maniskill/StackCube/images/episode_517/frame_0076.jpg", + "maniskill/StackCube/images/episode_517/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.541, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.384, 0.440]). The trajectory involves 54 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_517", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 39, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_517.json" + } + }, + { + "id": "maniskill_StackCube_out_319", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_319/frame_0054.jpg", + "maniskill/StackCube/images/episode_319/frame_0072.jpg", + "maniskill/StackCube/images/episode_319/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.514, 0.530]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.457, 0.489]). The trajectory involves 48 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_319", + "trajectory_length": 48, + "key_frame_indices": [ + 0, + 18, + 47 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_319.json" + } + }, + { + "id": "maniskill_StackCube_out_464", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_464/frame_0041.jpg", + "maniskill/StackCube/images/episode_464/frame_0060.jpg", + "maniskill/StackCube/images/episode_464/frame_0092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.411, 0.607]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.521]). The trajectory involves 52 precise waypoints with total movement distance of 0.112." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_464", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 19, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_464.json" + } + }, + { + "id": "maniskill_StackCube_out_312", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_312/frame_0034.jpg", + "maniskill/StackCube/images/episode_312/frame_0052.jpg", + "maniskill/StackCube/images/episode_312/frame_0090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.465, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.441]). The trajectory involves 57 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_312", + "trajectory_length": 57, + "key_frame_indices": [ + 0, + 18, + 56 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_312.json" + } + }, + { + "id": "maniskill_StackCube_out_550", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_550/frame_0051.jpg", + "maniskill/StackCube/images/episode_550/frame_0097.jpg", + "maniskill/StackCube/images/episode_550/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.498, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.393, 0.667]). The trajectory involves 61 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_550", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 46, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_550.json" + } + }, + { + "id": "maniskill_StackCube_out_171", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_171/frame_0051.jpg", + "maniskill/StackCube/images/episode_171/frame_0069.jpg", + "maniskill/StackCube/images/episode_171/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.556, 0.625]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.542, 0.521]). The trajectory involves 52 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_171", + "trajectory_length": 52, + "key_frame_indices": [ + 0, + 18, + 51 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_171.json" + } + }, + { + "id": "maniskill_StackCube_out_956", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_956/frame_0051.jpg", + "maniskill/StackCube/images/episode_956/frame_0069.jpg", + "maniskill/StackCube/images/episode_956/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.434, 0.529]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.377, 0.443]). The trajectory involves 50 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_956", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 18, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_956.json" + } + }, + { + "id": "maniskill_StackCube_out_915", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_915/frame_0044.jpg", + "maniskill/StackCube/images/episode_915/frame_0062.jpg", + "maniskill/StackCube/images/episode_915/frame_0097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.404, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.501]). The trajectory involves 54 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_915", + "trajectory_length": 54, + "key_frame_indices": [ + 0, + 18, + 53 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_915.json" + } + }, + { + "id": "maniskill_StackCube_out_308", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_308/frame_0044.jpg", + "maniskill/StackCube/images/episode_308/frame_0083.jpg", + "maniskill/StackCube/images/episode_308/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.391, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.270, 0.411]). The trajectory involves 50 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_308", + "trajectory_length": 50, + "key_frame_indices": [ + 0, + 39, + 49 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_308.json" + } + }, + { + "id": "maniskill_StackCube_out_816", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_816/frame_0050.jpg", + "maniskill/StackCube/images/episode_816/frame_0068.jpg", + "maniskill/StackCube/images/episode_816/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.443, 0.460]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.530, 0.458]). The trajectory involves 53 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_816", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 18, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_816.json" + } + }, + { + "id": "maniskill_StackCube_out_75", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_75/frame_0038.jpg", + "maniskill/StackCube/images/episode_75/frame_0076.jpg", + "maniskill/StackCube/images/episode_75/frame_0084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.380, 0.478]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.461, 0.487]). The trajectory involves 47 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_75", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 38, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_75.json" + } + }, + { + "id": "maniskill_StackCube_out_274", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_274/frame_0050.jpg", + "maniskill/StackCube/images/episode_274/frame_0094.jpg", + "maniskill/StackCube/images/episode_274/frame_0105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.388, 0.566]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.493, 0.620]). The trajectory involves 56 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_274", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 44, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_274.json" + } + }, + { + "id": "maniskill_StackCube_out_610", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_610/frame_0043.jpg", + "maniskill/StackCube/images/episode_610/frame_0062.jpg", + "maniskill/StackCube/images/episode_610/frame_0093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.323, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.262, 0.464]). The trajectory involves 51 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_610", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 19, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_610.json" + } + }, + { + "id": "maniskill_StackCube_out_13", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_13/frame_0038.jpg", + "maniskill/StackCube/images/episode_13/frame_0083.jpg", + "maniskill/StackCube/images/episode_13/frame_0102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.521, 0.608]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.283, 0.567]). The trajectory involves 65 precise waypoints with total movement distance of 0.349." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_13", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 45, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_13.json" + } + }, + { + "id": "maniskill_StackCube_out_538", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_538/frame_0037.jpg", + "maniskill/StackCube/images/episode_538/frame_0088.jpg", + "maniskill/StackCube/images/episode_538/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.348, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.416, 0.679]). The trajectory involves 64 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_538", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 51, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_538.json" + } + }, + { + "id": "maniskill_StackCube_out_884", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_884/frame_0050.jpg", + "maniskill/StackCube/images/episode_884/frame_0087.jpg", + "maniskill/StackCube/images/episode_884/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.318, 0.441]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.372, 0.442]). The trajectory involves 45 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_884", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 37, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_884.json" + } + }, + { + "id": "maniskill_StackCube_out_485", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_485/frame_0042.jpg", + "maniskill/StackCube/images/episode_485/frame_0087.jpg", + "maniskill/StackCube/images/episode_485/frame_0099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.290, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.434, 0.620]). The trajectory involves 58 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_485", + "trajectory_length": 58, + "key_frame_indices": [ + 0, + 45, + 57 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_485.json" + } + }, + { + "id": "maniskill_StackCube_out_501", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_501/frame_0040.jpg", + "maniskill/StackCube/images/episode_501/frame_0083.jpg", + "maniskill/StackCube/images/episode_501/frame_0095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.318, 0.451]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.466, 0.521]). The trajectory involves 56 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_501", + "trajectory_length": 56, + "key_frame_indices": [ + 0, + 43, + 55 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_501.json" + } + }, + { + "id": "maniskill_StackCube_out_336", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_336/frame_0035.jpg", + "maniskill/StackCube/images/episode_336/frame_0075.jpg", + "maniskill/StackCube/images/episode_336/frame_0087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.357, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.230, 0.446]). The trajectory involves 53 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_336", + "trajectory_length": 53, + "key_frame_indices": [ + 0, + 40, + 52 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_336.json" + } + }, + { + "id": "maniskill_StackCube_out_160", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_160/frame_0050.jpg", + "maniskill/StackCube/images/episode_160/frame_0068.jpg", + "maniskill/StackCube/images/episode_160/frame_0094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.505, 0.555]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.464, 0.467]). The trajectory involves 45 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_160", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 18, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_160.json" + } + }, + { + "id": "maniskill_StackCube_out_406", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_406/frame_0035.jpg", + "maniskill/StackCube/images/episode_406/frame_0075.jpg", + "maniskill/StackCube/images/episode_406/frame_0083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.439, 0.566]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.465, 0.641]). The trajectory involves 49 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_406", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 40, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_406.json" + } + }, + { + "id": "maniskill_StackCube_out_395", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_395/frame_0050.jpg", + "maniskill/StackCube/images/episode_395/frame_0068.jpg", + "maniskill/StackCube/images/episode_395/frame_0100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.339, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.335, 0.434]). The trajectory involves 51 precise waypoints with total movement distance of 0.085." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_395", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 18, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_395.json" + } + }, + { + "id": "maniskill_StackCube_out_761", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_761/frame_0051.jpg", + "maniskill/StackCube/images/episode_761/frame_0092.jpg", + "maniskill/StackCube/images/episode_761/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.459, 0.666]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.380, 0.592]). The trajectory involves 51 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_761", + "trajectory_length": 51, + "key_frame_indices": [ + 0, + 41, + 50 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_761.json" + } + }, + { + "id": "maniskill_StackCube_out_777", + "task": "pick up a red cube and stack it on top of a green cube", + "selected_step": 1, + "image": [ + "maniskill/StackCube/images/episode_777/frame_0041.jpg", + "maniskill/StackCube/images/episode_777/frame_0082.jpg", + "maniskill/StackCube/images/episode_777/frame_0089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up a red cube and stack it on top of a green cube?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: pick up a red cube and stack it on top of a green cube, execute the following phases: 1) Initial approach phase (start at [0.358, 0.535]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.390, 0.536]). The trajectory involves 49 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "StackCube", + "episode_id": "out_777", + "trajectory_length": 49, + "key_frame_indices": [ + 0, + 41, + 48 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/StackCube/label/out_777.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_449", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_449/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_449/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_449/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.693]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.765]). The trajectory involves 173 precise waypoints with total movement distance of 0.679." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_449", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 67, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_449.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_899", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_899/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_899/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_899/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.387, 0.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.271, 0.728]). The trajectory involves 182 precise waypoints with total movement distance of 1.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_899", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 67, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_899.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_916", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_916/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_916/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_916/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.789]). The trajectory involves 199 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_916", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 74, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_916.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_902", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_902/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_902/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_902/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.766]). The trajectory involves 198 precise waypoints with total movement distance of 0.947." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_902", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 75, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_902.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_708", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_708/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_708/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_708/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.379, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.286, 0.708]). The trajectory involves 185 precise waypoints with total movement distance of 1.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_708", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 62, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_708.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_168", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_168/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_168/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_168/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.371, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.916]). The trajectory involves 184 precise waypoints with total movement distance of 0.666." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_168", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 72, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_168.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_334", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_334/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_334/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_334/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.347, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.782]). The trajectory involves 184 precise waypoints with total movement distance of 0.926." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_334", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 70, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_334.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_904", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_904/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_904/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_904/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.422, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.947]). The trajectory involves 178 precise waypoints with total movement distance of 0.789." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_904", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 70, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_904.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_356", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_356/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_356/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_356/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.347, 0.754]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.852]). The trajectory involves 207 precise waypoints with total movement distance of 0.831." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_356", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 82, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_356.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_432", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_432/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_432/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_432/frame_0274.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.334, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.676]). The trajectory involves 205 precise waypoints with total movement distance of 1.127." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_432", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 71, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_432.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_875", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_875/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_875/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_875/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 0.831]). The trajectory involves 170 precise waypoints with total movement distance of 0.793." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_875", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 68, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_875.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_362", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_362/frame_0082.jpg", + "maniskill/PullCubeTool/images/episode_362/frame_0160.jpg", + "maniskill/PullCubeTool/images/episode_362/frame_0273.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.320, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.925]). The trajectory involves 192 precise waypoints with total movement distance of 0.907." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_362", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 78, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_362.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_315", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_315/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_315/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_315/frame_0280.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.346, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.405, 0.815]). The trajectory involves 213 precise waypoints with total movement distance of 0.865." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_315", + "trajectory_length": 213, + "key_frame_indices": [ + 0, + 75, + 212 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_315.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_633", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_633/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_633/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_633/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.393, 0.845]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.822]). The trajectory involves 186 precise waypoints with total movement distance of 0.953." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_633", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 65, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_633.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_369", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_369/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_369/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_369/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.332, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.754]). The trajectory involves 188 precise waypoints with total movement distance of 0.986." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_369", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 73, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_369.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_27", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_27/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_27/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_27/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.342, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.768]). The trajectory involves 188 precise waypoints with total movement distance of 1.101." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_27", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 78, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_27.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_296", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_296/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_296/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_296/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.335, 0.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.380, 0.892]). The trajectory involves 197 precise waypoints with total movement distance of 0.812." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_296", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 84, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_296.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_873", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_873/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_873/frame_0150.jpg", + "maniskill/PullCubeTool/images/episode_873/frame_0281.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.380, 0.851]). The trajectory involves 213 precise waypoints with total movement distance of 0.981." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_873", + "trajectory_length": 213, + "key_frame_indices": [ + 0, + 81, + 212 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_873.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_235", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_235/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_235/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_235/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.449, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.788]). The trajectory involves 170 precise waypoints with total movement distance of 0.889." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_235", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 66, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_235.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_249", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_249/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_249/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_249/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.332, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.243, 0.780]). The trajectory involves 170 precise waypoints with total movement distance of 0.940." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_249", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 64, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_249.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_598", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_598/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_598/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_598/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.368, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.945]). The trajectory involves 179 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_598", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 71, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_598.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_23", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_23/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_23/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_23/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.742]). The trajectory involves 177 precise waypoints with total movement distance of 1.088." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_23", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 59, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_23.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_307", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_307/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_307/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_307/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.411, 0.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 0.748]). The trajectory involves 187 precise waypoints with total movement distance of 1.065." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_307", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 74, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_307.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_16", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_16/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_16/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_16/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.364, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.393, 0.806]). The trajectory involves 210 precise waypoints with total movement distance of 0.847." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_16", + "trajectory_length": 210, + "key_frame_indices": [ + 0, + 78, + 209 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_16.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_967", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_967/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_967/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_967/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.841]). The trajectory involves 202 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_967", + "trajectory_length": 202, + "key_frame_indices": [ + 0, + 64, + 201 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_967.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_15", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_15/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_15/frame_0160.jpg", + "maniskill/PullCubeTool/images/episode_15/frame_0295.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.326, 0.802]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.734]). The trajectory involves 227 precise waypoints with total movement distance of 1.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_15", + "trajectory_length": 227, + "key_frame_indices": [ + 0, + 91, + 226 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_15.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_822", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_822/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_822/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_822/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.341, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.311, 0.912]). The trajectory involves 182 precise waypoints with total movement distance of 0.755." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_822", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 74, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_822.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_318", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_318/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_318/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_318/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.354, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.847]). The trajectory involves 194 precise waypoints with total movement distance of 0.772." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_318", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 75, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_318.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_543", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_543/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_543/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_543/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.283, 0.705]). The trajectory involves 180 precise waypoints with total movement distance of 0.942." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_543", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 67, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_543.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_924", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_924/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_924/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_924/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.876]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.732]). The trajectory involves 192 precise waypoints with total movement distance of 1.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_924", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 73, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_924.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_800", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_800/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_800/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_800/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.251, 0.745]). The trajectory involves 190 precise waypoints with total movement distance of 1.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_800", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 75, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_800.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_210", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_210/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_210/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_210/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.403, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.795]). The trajectory involves 176 precise waypoints with total movement distance of 1.013." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_210", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 65, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_210.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_194", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_194/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_194/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_194/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.425, 0.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.302, 0.764]). The trajectory involves 173 precise waypoints with total movement distance of 0.768." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_194", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 64, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_194.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_859", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_859/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_859/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_859/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.446, 0.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.272, 0.804]). The trajectory involves 166 precise waypoints with total movement distance of 0.787." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_859", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 64, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_859.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_507", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_507/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_507/frame_0150.jpg", + "maniskill/PullCubeTool/images/episode_507/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.331, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.931]). The trajectory involves 184 precise waypoints with total movement distance of 0.891." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_507", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 74, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_507.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_771", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_771/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_771/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_771/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.467, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.667]). The trajectory involves 199 precise waypoints with total movement distance of 1.191." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_771", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 66, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_771.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_85", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_85/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_85/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_85/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.874]). The trajectory involves 161 precise waypoints with total movement distance of 0.849." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_85", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 60, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_85.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_295", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_295/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_295/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_295/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.379, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.312, 0.801]). The trajectory involves 180 precise waypoints with total movement distance of 1.007." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_295", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 63, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_295.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_163", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_163/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_163/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_163/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.470, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.361, 0.774]). The trajectory involves 178 precise waypoints with total movement distance of 1.044." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_163", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 55, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_163.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_392", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_392/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_392/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_392/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.347, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.380, 0.947]). The trajectory involves 185 precise waypoints with total movement distance of 0.850." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_392", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 77, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_392.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_671", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_671/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_671/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_671/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.885]). The trajectory involves 190 precise waypoints with total movement distance of 0.645." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_671", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 72, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_671.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_407", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_407/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_407/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_407/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.299, 0.782]). The trajectory involves 188 precise waypoints with total movement distance of 0.957." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_407", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 72, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_407.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_558", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_558/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_558/frame_0123.jpg", + "maniskill/PullCubeTool/images/episode_558/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.300, 0.834]). The trajectory involves 170 precise waypoints with total movement distance of 0.874." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_558", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 66, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_558.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_631", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_631/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_631/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_631/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.377, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.920]). The trajectory involves 171 precise waypoints with total movement distance of 0.842." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_631", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 65, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_631.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_243", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_243/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_243/frame_0201.jpg", + "maniskill/PullCubeTool/images/episode_243/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.448, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.956]). The trajectory involves 219 precise waypoints with total movement distance of 0.610." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_243", + "trajectory_length": 219, + "key_frame_indices": [ + 0, + 201, + 218 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_243.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_469", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_469/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_469/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_469/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.368, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.728]). The trajectory involves 186 precise waypoints with total movement distance of 1.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_469", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 68, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_469.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_14", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_14/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_14/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_14/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.294, 0.777]). The trajectory involves 174 precise waypoints with total movement distance of 0.966." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_14", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 59, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_14.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_685", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_685/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_685/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_685/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.343, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.325, 0.807]). The trajectory involves 178 precise waypoints with total movement distance of 0.899." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_685", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 68, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_685.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_878", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_878/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_878/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_878/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.432, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.300, 0.728]). The trajectory involves 184 precise waypoints with total movement distance of 1.151." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_878", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 68, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_878.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_463", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_463/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_463/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_463/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.424, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.838]). The trajectory involves 191 precise waypoints with total movement distance of 0.642." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_463", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 73, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_463.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_568", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_568/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_568/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_568/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.430, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.326, 0.680]). The trajectory involves 201 precise waypoints with total movement distance of 1.003." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_568", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 70, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_568.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_198", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_198/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_198/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_198/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.471, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.881]). The trajectory involves 157 precise waypoints with total movement distance of 0.715." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_198", + "trajectory_length": 157, + "key_frame_indices": [ + 0, + 55, + 156 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_198.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_770", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_770/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_770/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_770/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.365, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.938]). The trajectory involves 185 precise waypoints with total movement distance of 0.897." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_770", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 68, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_770.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_513", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_513/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_513/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_513/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.736]). The trajectory involves 201 precise waypoints with total movement distance of 0.901." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_513", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 69, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_513.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_177", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_177/frame_0044.jpg", + "maniskill/PullCubeTool/images/episode_177/frame_0193.jpg", + "maniskill/PullCubeTool/images/episode_177/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.408, 0.674]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.860]). The trajectory involves 169 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_177", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 149, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_177.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_650", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_650/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_650/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_650/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.766]). The trajectory involves 196 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_650", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 74, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_650.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_412", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_412/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_412/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_412/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.352, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.910]). The trajectory involves 197 precise waypoints with total movement distance of 0.827." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_412", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 82, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_412.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_192", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_192/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_192/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_192/frame_0737.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.815]). The trajectory involves 681 precise waypoints with total movement distance of 0.893." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_192", + "trajectory_length": 681, + "key_frame_indices": [ + 0, + 80, + 680 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_192.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_684", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_684/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_684/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_684/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.465, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.873]). The trajectory involves 176 precise waypoints with total movement distance of 0.751." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_684", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 57, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_684.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_358", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_358/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_358/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_358/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.413, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.301, 0.890]). The trajectory involves 166 precise waypoints with total movement distance of 0.787." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_358", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 68, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_358.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_396", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_396/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_396/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_396/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.857]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.361, 0.746]). The trajectory involves 191 precise waypoints with total movement distance of 1.054." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_396", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 59, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_396.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_845", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_845/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_845/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_845/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.369, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.287, 0.801]). The trajectory involves 185 precise waypoints with total movement distance of 0.833." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_845", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 74, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_845.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_105", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_105/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_105/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_105/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.362, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.797]). The trajectory involves 181 precise waypoints with total movement distance of 0.727." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_105", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 70, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_105.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_40", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_40/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_40/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_40/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.343, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.880]). The trajectory involves 203 precise waypoints with total movement distance of 0.791." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_40", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 81, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_40.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_331", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_331/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_331/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_331/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.896]). The trajectory involves 181 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_331", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 71, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_331.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_712", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_712/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_712/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_712/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.424, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 0.735]). The trajectory involves 190 precise waypoints with total movement distance of 0.838." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_712", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 71, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_712.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_423", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_423/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_423/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_423/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.443, 0.845]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.806]). The trajectory involves 197 precise waypoints with total movement distance of 0.959." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_423", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 67, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_423.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_717", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_717/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_717/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_717/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.307, 0.695]). The trajectory involves 197 precise waypoints with total movement distance of 0.991." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_717", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 72, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_717.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_619", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_619/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_619/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_619/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.412, 0.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.256, 0.779]). The trajectory involves 182 precise waypoints with total movement distance of 1.039." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_619", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 71, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_619.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_655", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_655/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_655/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_655/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.860]). The trajectory involves 194 precise waypoints with total movement distance of 0.912." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_655", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 77, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_655.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_83", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_83/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_83/frame_0153.jpg", + "maniskill/PullCubeTool/images/episode_83/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.338, 0.808]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.789]). The trajectory involves 198 precise waypoints with total movement distance of 1.080." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_83", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 85, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_83.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_242", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_242/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_242/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_242/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.344, 0.766]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.281, 0.772]). The trajectory involves 179 precise waypoints with total movement distance of 0.974." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_242", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 66, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_242.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_542", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_542/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_542/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_542/frame_0278.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.882]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.802]). The trajectory involves 215 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_542", + "trajectory_length": 215, + "key_frame_indices": [ + 0, + 70, + 214 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_542.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_164", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_164/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_164/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_164/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.391, 0.903]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.911]). The trajectory involves 182 precise waypoints with total movement distance of 0.809." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_164", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 73, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_164.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_450", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_450/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_450/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_450/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.818]). The trajectory involves 187 precise waypoints with total movement distance of 0.941." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_450", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 69, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_450.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_663", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_663/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_663/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_663/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.887]). The trajectory involves 201 precise waypoints with total movement distance of 0.893." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_663", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 74, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_663.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_374", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_374/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_374/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_374/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.350, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.869]). The trajectory involves 195 precise waypoints with total movement distance of 0.942." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_374", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 75, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_374.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_159", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_159/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_159/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_159/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 0.753]). The trajectory involves 171 precise waypoints with total movement distance of 0.706." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_159", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 65, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_159.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_271", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_271/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_271/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_271/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.457, 0.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.251, 0.753]). The trajectory involves 180 precise waypoints with total movement distance of 1.033." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_271", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 67, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_271.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_728", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_728/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_728/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_728/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.351, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.263, 0.764]). The trajectory involves 181 precise waypoints with total movement distance of 0.984." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_728", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 66, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_728.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_38", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_38/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_38/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_38/frame_0287.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.842]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.422, 0.845]). The trajectory involves 225 precise waypoints with total movement distance of 0.943." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_38", + "trajectory_length": 225, + "key_frame_indices": [ + 0, + 79, + 224 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_38.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_316", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_316/frame_0080.jpg", + "maniskill/PullCubeTool/images/episode_316/frame_0156.jpg", + "maniskill/PullCubeTool/images/episode_316/frame_0311.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.328, 0.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.783]). The trajectory involves 232 precise waypoints with total movement distance of 1.096." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_316", + "trajectory_length": 232, + "key_frame_indices": [ + 0, + 76, + 231 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_316.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_64", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_64/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_64/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_64/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.393, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.886]). The trajectory involves 182 precise waypoints with total movement distance of 0.701." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_64", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 69, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_64.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_206", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_206/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_206/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_206/frame_0275.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.341, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.876]). The trajectory involves 211 precise waypoints with total movement distance of 0.898." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_206", + "trajectory_length": 211, + "key_frame_indices": [ + 0, + 80, + 210 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_206.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_30", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_30/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_30/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_30/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.288, 0.877]). The trajectory involves 170 precise waypoints with total movement distance of 0.788." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_30", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 65, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_30.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_273", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_273/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_273/frame_0110.jpg", + "maniskill/PullCubeTool/images/episode_273/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.434, 0.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.825]). The trajectory involves 179 precise waypoints with total movement distance of 0.672." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_273", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 63, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_273.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_881", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_881/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_881/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_881/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.461, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.261, 0.796]). The trajectory involves 161 precise waypoints with total movement distance of 0.877." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_881", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 58, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_881.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_784", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_784/frame_0054.jpg", + "maniskill/PullCubeTool/images/episode_784/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_784/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.454, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.729]). The trajectory involves 203 precise waypoints with total movement distance of 0.959." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_784", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 64, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_784.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_522", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_522/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_522/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_522/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.832]). The trajectory involves 177 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_522", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 62, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_522.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_907", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_907/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_907/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_907/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.424, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.828]). The trajectory involves 173 precise waypoints with total movement distance of 0.716." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_907", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 65, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_907.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_722", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_722/frame_0044.jpg", + "maniskill/PullCubeTool/images/episode_722/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_722/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.703]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.287, 0.706]). The trajectory involves 179 precise waypoints with total movement distance of 0.838." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_722", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 72, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_722.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_574", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_574/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_574/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_574/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.431, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.815]). The trajectory involves 184 precise waypoints with total movement distance of 0.973." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_574", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 67, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_574.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_548", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_548/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_548/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_548/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.358, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.731]). The trajectory involves 190 precise waypoints with total movement distance of 1.166." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_548", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 72, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_548.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_216", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_216/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_216/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_216/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.288, 0.844]). The trajectory involves 169 precise waypoints with total movement distance of 0.941." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_216", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 67, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_216.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_798", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_798/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_798/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_798/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.390, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.242, 0.759]). The trajectory involves 173 precise waypoints with total movement distance of 1.098." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_798", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 63, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_798.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_158", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_158/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_158/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_158/frame_0274.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.718]). The trajectory involves 207 precise waypoints with total movement distance of 1.077." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_158", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 73, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_158.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_661", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_661/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_661/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_661/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.460, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.813]). The trajectory involves 169 precise waypoints with total movement distance of 0.863." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_661", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 65, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_661.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_736", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_736/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_736/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_736/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.445, 0.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.766]). The trajectory involves 186 precise waypoints with total movement distance of 1.058." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_736", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 66, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_736.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_575", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_575/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_575/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_575/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.404, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.280, 0.807]). The trajectory involves 176 precise waypoints with total movement distance of 1.014." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_575", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 68, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_575.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_276", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_276/frame_0079.jpg", + "maniskill/PullCubeTool/images/episode_276/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_276/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.358, 0.841]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.785]). The trajectory involves 190 precise waypoints with total movement distance of 1.068." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_276", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 70, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_276.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_145", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_145/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_145/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_145/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.415, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.361, 0.860]). The trajectory involves 180 precise waypoints with total movement distance of 0.884." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_145", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 69, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_145.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_297", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_297/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_297/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_297/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.466, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.885]). The trajectory involves 161 precise waypoints with total movement distance of 0.842." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_297", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 54, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_297.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_193", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_193/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_193/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_193/frame_0788.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.403, 0.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.446, 0.861]). The trajectory involves 741 precise waypoints with total movement distance of 0.657." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_193", + "trajectory_length": 741, + "key_frame_indices": [ + 0, + 73, + 740 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_193.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_521", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_521/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_521/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_521/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.832]). The trajectory involves 182 precise waypoints with total movement distance of 0.933." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_521", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 67, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_521.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_545", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_545/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_545/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_545/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.346, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.742]). The trajectory involves 196 precise waypoints with total movement distance of 1.154." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_545", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 78, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_545.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_84", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_84/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_84/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_84/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.795]). The trajectory involves 175 precise waypoints with total movement distance of 0.907." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_84", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 65, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_84.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_807", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_807/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_807/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_807/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.390, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.242, 0.759]). The trajectory involves 173 precise waypoints with total movement distance of 1.098." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_807", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 63, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_807.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_892", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_892/frame_0044.jpg", + "maniskill/PullCubeTool/images/episode_892/frame_0111.jpg", + "maniskill/PullCubeTool/images/episode_892/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.414, 0.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.682]). The trajectory involves 192 precise waypoints with total movement distance of 0.770." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_892", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 67, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_892.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_39", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_39/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_39/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_39/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.475, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.710]). The trajectory involves 182 precise waypoints with total movement distance of 1.176." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_39", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 68, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_39.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_471", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_471/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_471/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_471/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.429, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.689]). The trajectory involves 199 precise waypoints with total movement distance of 1.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_471", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 73, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_471.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_257", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_257/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_257/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_257/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.342, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.939]). The trajectory involves 169 precise waypoints with total movement distance of 0.781." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_257", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 65, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_257.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_55", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_55/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_55/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_55/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.468, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.301, 0.783]). The trajectory involves 173 precise waypoints with total movement distance of 0.926." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_55", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 58, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_55.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_453", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_453/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_453/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_453/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.411, 0.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.278, 0.819]). The trajectory involves 156 precise waypoints with total movement distance of 0.809." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_453", + "trajectory_length": 156, + "key_frame_indices": [ + 0, + 55, + 155 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_453.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_180", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_180/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_180/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_180/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.352, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.858]). The trajectory involves 188 precise waypoints with total movement distance of 0.901." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_180", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 69, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_180.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_680", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_680/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_680/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_680/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.388, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.286, 0.838]). The trajectory involves 168 precise waypoints with total movement distance of 0.967." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_680", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 60, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_680.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_176", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_176/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_176/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_176/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.901]). The trajectory involves 182 precise waypoints with total movement distance of 0.601." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_176", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 73, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_176.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_945", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_945/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_945/frame_0123.jpg", + "maniskill/PullCubeTool/images/episode_945/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.473, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.288, 0.817]). The trajectory involves 172 precise waypoints with total movement distance of 0.988." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_945", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 67, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_945.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_314", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_314/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_314/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_314/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.346, 0.829]). The trajectory involves 187 precise waypoints with total movement distance of 0.883." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_314", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 69, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_314.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_737", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_737/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_737/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_737/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.374, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.271, 0.816]). The trajectory involves 170 precise waypoints with total movement distance of 0.705." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_737", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 66, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_737.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_998", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_998/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_998/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_998/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.685]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.285, 0.827]). The trajectory involves 210 precise waypoints with total movement distance of 0.579." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_998", + "trajectory_length": 210, + "key_frame_indices": [ + 0, + 112, + 209 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_998.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_0", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_0/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_0/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_0/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.349, 0.951]). The trajectory involves 168 precise waypoints with total movement distance of 0.784." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_0", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 69, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_0.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_329", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_329/frame_0082.jpg", + "maniskill/PullCubeTool/images/episode_329/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_329/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.342, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.877]). The trajectory involves 173 precise waypoints with total movement distance of 0.937." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_329", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 67, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_329.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_417", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_417/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_417/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_417/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.849]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.763]). The trajectory involves 199 precise waypoints with total movement distance of 1.060." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_417", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 77, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_417.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_882", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_882/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_882/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_882/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.417, 0.863]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.785]). The trajectory involves 195 precise waypoints with total movement distance of 0.992." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_882", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 60, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_882.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_408", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_408/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_408/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_408/frame_0270.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.360, 0.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.901]). The trajectory involves 203 precise waypoints with total movement distance of 0.953." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_408", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 81, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_408.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_389", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_389/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_389/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_389/frame_0271.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.722]). The trajectory involves 213 precise waypoints with total movement distance of 1.079." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_389", + "trajectory_length": 213, + "key_frame_indices": [ + 0, + 74, + 212 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_389.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_201", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_201/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_201/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_201/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.314, 0.754]). The trajectory involves 187 precise waypoints with total movement distance of 1.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_201", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 62, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_201.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_826", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_826/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_826/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_826/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.866]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.878]). The trajectory involves 186 precise waypoints with total movement distance of 0.847." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_826", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 66, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_826.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_877", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_877/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_877/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_877/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.371, 0.821]). The trajectory involves 187 precise waypoints with total movement distance of 0.614." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_877", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 70, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_877.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_817", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_817/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_817/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_817/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.341, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.246, 0.754]). The trajectory involves 176 precise waypoints with total movement distance of 0.981." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_817", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 65, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_817.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_185", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_185/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_185/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_185/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.378, 0.800]). The trajectory involves 187 precise waypoints with total movement distance of 0.618." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_185", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 70, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_185.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_879", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_879/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_879/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_879/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.445, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.887]). The trajectory involves 184 precise waypoints with total movement distance of 0.850." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_879", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 69, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_879.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_191", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_191/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_191/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_191/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.476, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.283, 0.827]). The trajectory involves 175 precise waypoints with total movement distance of 0.989." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_191", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 66, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_191.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_659", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_659/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_659/frame_0209.jpg", + "maniskill/PullCubeTool/images/episode_659/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.362, 0.977]). The trajectory involves 169 precise waypoints with total movement distance of 0.698." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_659", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 150, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_659.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_93", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_93/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_93/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_93/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.483, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.662]). The trajectory involves 189 precise waypoints with total movement distance of 1.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_93", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 61, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_93.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_220", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_220/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_220/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_220/frame_0270.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.405, 0.823]). The trajectory involves 198 precise waypoints with total movement distance of 0.958." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_220", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 65, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_220.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_270", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_270/frame_0044.jpg", + "maniskill/PullCubeTool/images/episode_270/frame_0111.jpg", + "maniskill/PullCubeTool/images/episode_270/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.421, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.846]). The trajectory involves 189 precise waypoints with total movement distance of 0.536." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_270", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 67, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_270.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_479", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_479/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_479/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_479/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.389, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.912]). The trajectory involves 195 precise waypoints with total movement distance of 0.835." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_479", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 78, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_479.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_24", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_24/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_24/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_24/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.478, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.716]). The trajectory involves 199 precise waypoints with total movement distance of 1.111." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_24", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 68, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_24.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_121", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_121/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_121/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_121/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.465, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.795]). The trajectory involves 185 precise waypoints with total movement distance of 0.948." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_121", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 64, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_121.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_279", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_279/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_279/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_279/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.727]). The trajectory involves 184 precise waypoints with total movement distance of 0.711." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_279", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 71, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_279.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_323", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_323/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_323/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_323/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.389, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.796]). The trajectory involves 191 precise waypoints with total movement distance of 0.840." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_323", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 71, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_323.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_31", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_31/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_31/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_31/frame_0288.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.385, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.844]). The trajectory involves 224 precise waypoints with total movement distance of 0.973." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_31", + "trajectory_length": 224, + "key_frame_indices": [ + 0, + 82, + 223 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_31.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_672", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_672/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_672/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_672/frame_0282.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.379, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.846]). The trajectory involves 221 precise waypoints with total movement distance of 0.891." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_672", + "trajectory_length": 221, + "key_frame_indices": [ + 0, + 77, + 220 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_672.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_113", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_113/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_113/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_113/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.440, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.723]). The trajectory involves 189 precise waypoints with total movement distance of 0.869." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_113", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 65, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_113.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_592", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_592/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_592/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_592/frame_0271.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.750]). The trajectory involves 205 precise waypoints with total movement distance of 0.993." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_592", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 72, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_592.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_60", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_60/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_60/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_60/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.355, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.303, 0.836]). The trajectory involves 175 precise waypoints with total movement distance of 0.692." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_60", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 71, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_60.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_734", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_734/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_734/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_734/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.466, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.864]). The trajectory involves 168 precise waypoints with total movement distance of 0.743." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_734", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 63, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_734.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_706", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_706/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_706/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_706/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.417, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.248, 0.749]). The trajectory involves 174 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_706", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 68, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_706.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_228", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_228/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_228/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_228/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.858]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.372, 0.827]). The trajectory involves 185 precise waypoints with total movement distance of 0.914." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_228", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 67, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_228.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_653", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_653/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_653/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_653/frame_0273.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.750]). The trajectory involves 218 precise waypoints with total movement distance of 0.823." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_653", + "trajectory_length": 218, + "key_frame_indices": [ + 0, + 76, + 217 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_653.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_20", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_20/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_20/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_20/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.362, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.862]). The trajectory involves 169 precise waypoints with total movement distance of 0.914." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_20", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 63, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_20.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_154", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_154/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_154/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_154/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.439, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.909]). The trajectory involves 161 precise waypoints with total movement distance of 0.740." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_154", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 64, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_154.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_342", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_342/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_342/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_342/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.461, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.729]). The trajectory involves 188 precise waypoints with total movement distance of 1.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_342", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 56, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_342.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_896", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_896/frame_0085.jpg", + "maniskill/PullCubeTool/images/episode_896/frame_0155.jpg", + "maniskill/PullCubeTool/images/episode_896/frame_0278.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.385, 0.899]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.820]). The trajectory involves 194 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_896", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 70, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_896.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_584", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_584/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_584/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_584/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.413, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.688]). The trajectory involves 189 precise waypoints with total movement distance of 0.970." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_584", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 67, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_584.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_261", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_261/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_261/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_261/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.311, 0.872]). The trajectory involves 215 precise waypoints with total movement distance of 0.567." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_261", + "trajectory_length": 215, + "key_frame_indices": [ + 0, + 117, + 214 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_261.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_368", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_368/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_368/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_368/frame_0271.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.872]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.700]). The trajectory involves 204 precise waypoints with total movement distance of 1.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_368", + "trajectory_length": 204, + "key_frame_indices": [ + 0, + 70, + 203 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_368.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_990", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_990/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_990/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_990/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.425, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.840]). The trajectory involves 190 precise waypoints with total movement distance of 0.898." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_990", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 70, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_990.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_205", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_205/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_205/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_205/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.434, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.928]). The trajectory involves 163 precise waypoints with total movement distance of 0.797." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_205", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 63, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_205.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_298", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_298/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_298/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_298/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.453, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.249, 0.775]). The trajectory involves 176 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_298", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 66, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_298.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_844", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_844/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_844/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_844/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.346, 0.837]). The trajectory involves 171 precise waypoints with total movement distance of 0.844." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_844", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 63, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_844.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_478", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_478/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_478/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_478/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.489, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.724]). The trajectory involves 187 precise waypoints with total movement distance of 1.109." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_478", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 65, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_478.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_287", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_287/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_287/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_287/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.318, 0.678]). The trajectory involves 194 precise waypoints with total movement distance of 1.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_287", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 66, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_287.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_954", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_954/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_954/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_954/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.932]). The trajectory involves 179 precise waypoints with total movement distance of 0.791." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_954", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 70, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_954.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_425", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_425/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_425/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_425/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.387, 0.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.285, 0.702]). The trajectory involves 195 precise waypoints with total movement distance of 1.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_425", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 72, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_425.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_448", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_448/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_448/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_448/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.456, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.266, 0.797]). The trajectory involves 171 precise waypoints with total movement distance of 1.069." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_448", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 63, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_448.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_418", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_418/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_418/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_418/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.839]). The trajectory involves 184 precise waypoints with total movement distance of 0.696." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_418", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 69, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_418.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_707", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_707/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_707/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_707/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.855]). The trajectory involves 167 precise waypoints with total movement distance of 0.836." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_707", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 62, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_707.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_726", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_726/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_726/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_726/frame_0534.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.473, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.430, 0.841]). The trajectory involves 482 precise waypoints with total movement distance of 0.918." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_726", + "trajectory_length": 482, + "key_frame_indices": [ + 0, + 67, + 481 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_726.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_530", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_530/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_530/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_530/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.855]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.806]). The trajectory involves 190 precise waypoints with total movement distance of 0.950." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_530", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 69, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_530.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_755", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_755/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_755/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_755/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.363, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.307, 0.803]). The trajectory involves 185 precise waypoints with total movement distance of 0.769." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_755", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 75, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_755.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_488", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_488/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_488/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_488/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.377, 0.863]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.740]). The trajectory involves 198 precise waypoints with total movement distance of 1.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_488", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 78, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_488.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_627", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_627/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_627/frame_0215.jpg", + "maniskill/PullCubeTool/images/episode_627/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.362, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.317, 0.915]). The trajectory involves 176 precise waypoints with total movement distance of 0.614." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_627", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 156, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_627.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_612", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_612/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_612/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_612/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.834]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.362, 0.844]). The trajectory involves 185 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_612", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 65, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_612.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_112", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_112/frame_0044.jpg", + "maniskill/PullCubeTool/images/episode_112/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_112/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.412, 0.668]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.788]). The trajectory involves 206 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_112", + "trajectory_length": 206, + "key_frame_indices": [ + 0, + 69, + 205 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_112.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_853", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_853/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_853/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_853/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.746]). The trajectory involves 202 precise waypoints with total movement distance of 0.882." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_853", + "trajectory_length": 202, + "key_frame_indices": [ + 0, + 75, + 201 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_853.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_795", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_795/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_795/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_795/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.710]). The trajectory involves 189 precise waypoints with total movement distance of 1.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_795", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 72, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_795.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_482", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_482/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_482/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_482/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.467, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.804]). The trajectory involves 181 precise waypoints with total movement distance of 0.779." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_482", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 59, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_482.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_74", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_74/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_74/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_74/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.351, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.865]). The trajectory involves 178 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_74", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 71, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_74.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_624", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_624/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_624/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_624/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.455, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.891]). The trajectory involves 161 precise waypoints with total movement distance of 0.728." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_624", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 54, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_624.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_343", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_343/frame_0080.jpg", + "maniskill/PullCubeTool/images/episode_343/frame_0153.jpg", + "maniskill/PullCubeTool/images/episode_343/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.311, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.268, 0.798]). The trajectory involves 189 precise waypoints with total movement distance of 1.024." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_343", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 73, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_343.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_639", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_639/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_639/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_639/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.408, 0.808]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.302, 0.791]). The trajectory involves 181 precise waypoints with total movement distance of 1.034." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_639", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 68, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_639.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_430", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_430/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_430/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_430/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.347, 0.814]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.314, 0.836]). The trajectory involves 194 precise waypoints with total movement distance of 0.998." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_430", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 78, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_430.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_73", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_73/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_73/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_73/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.703]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.838]). The trajectory involves 195 precise waypoints with total movement distance of 0.629." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_73", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 64, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_73.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_993", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_993/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_993/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_993/frame_0301.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.720]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.836]). The trajectory involves 246 precise waypoints with total movement distance of 0.742." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_993", + "trajectory_length": 246, + "key_frame_indices": [ + 0, + 75, + 245 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_993.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_480", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_480/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_480/frame_0194.jpg", + "maniskill/PullCubeTool/images/episode_480/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.860]). The trajectory involves 213 precise waypoints with total movement distance of 0.473." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_480", + "trajectory_length": 213, + "key_frame_indices": [ + 0, + 194, + 212 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_480.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_141", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_141/frame_0081.jpg", + "maniskill/PullCubeTool/images/episode_141/frame_0154.jpg", + "maniskill/PullCubeTool/images/episode_141/frame_0290.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.393, 0.814]). The trajectory involves 210 precise waypoints with total movement distance of 1.056." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_141", + "trajectory_length": 210, + "key_frame_indices": [ + 0, + 73, + 209 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_141.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_386", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_386/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_386/frame_0161.jpg", + "maniskill/PullCubeTool/images/episode_386/frame_0297.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.327, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.668]). The trajectory involves 223 precise waypoints with total movement distance of 1.300." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_386", + "trajectory_length": 223, + "key_frame_indices": [ + 0, + 86, + 222 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_386.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_855", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_855/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_855/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_855/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.380, 0.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.881]). The trajectory involves 179 precise waypoints with total movement distance of 0.863." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_855", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 71, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_855.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_716", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_716/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_716/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_716/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.345, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.834]). The trajectory involves 189 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_716", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 70, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_716.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_865", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_865/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_865/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_865/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.836]). The trajectory involves 190 precise waypoints with total movement distance of 0.821." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_865", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 71, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_865.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_400", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_400/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_400/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_400/frame_0301.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.423, 0.836]). The trajectory involves 252 precise waypoints with total movement distance of 0.765." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_400", + "trajectory_length": 252, + "key_frame_indices": [ + 0, + 69, + 251 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_400.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_955", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_955/frame_0080.jpg", + "maniskill/PullCubeTool/images/episode_955/frame_0158.jpg", + "maniskill/PullCubeTool/images/episode_955/frame_0289.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.308, 0.784]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.310, 0.669]). The trajectory involves 210 precise waypoints with total movement distance of 1.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_955", + "trajectory_length": 210, + "key_frame_indices": [ + 0, + 78, + 209 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_955.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_214", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_214/frame_0054.jpg", + "maniskill/PullCubeTool/images/episode_214/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_214/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.311, 0.743]). The trajectory involves 175 precise waypoints with total movement distance of 0.873." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_214", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 65, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_214.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_729", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_729/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_729/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_729/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.427, 0.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.776]). The trajectory involves 188 precise waypoints with total movement distance of 0.706." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_729", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 66, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_729.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_790", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_790/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_790/frame_0110.jpg", + "maniskill/PullCubeTool/images/episode_790/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.427, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.777]). The trajectory involves 169 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_790", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 63, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_790.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_461", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_461/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_461/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_461/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.367, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.262, 0.753]). The trajectory involves 177 precise waypoints with total movement distance of 1.092." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_461", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 65, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_461.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_241", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_241/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_241/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_241/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.888]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.827]). The trajectory involves 177 precise waypoints with total movement distance of 0.884." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_241", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 59, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_241.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_170", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_170/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_170/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_170/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.343, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.824]). The trajectory involves 199 precise waypoints with total movement distance of 1.023." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_170", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 80, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_170.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_338", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_338/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_338/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_338/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.448, 0.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.873]). The trajectory involves 192 precise waypoints with total movement distance of 0.637." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_338", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 57, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_338.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_620", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_620/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_620/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_620/frame_0272.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.380, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.848]). The trajectory involves 199 precise waypoints with total movement distance of 0.903." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_620", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 69, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_620.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_561", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_561/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_561/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_561/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.775]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.244, 0.773]). The trajectory involves 173 precise waypoints with total movement distance of 1.011." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_561", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 68, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_561.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_97", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_97/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_97/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_97/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.860]). The trajectory involves 200 precise waypoints with total movement distance of 0.833." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_97", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 76, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_97.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_172", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_172/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_172/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_172/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.460, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.952]). The trajectory involves 147 precise waypoints with total movement distance of 0.787." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_172", + "trajectory_length": 147, + "key_frame_indices": [ + 0, + 51, + 146 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_172.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_375", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_375/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_375/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_375/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.271, 0.727]). The trajectory involves 180 precise waypoints with total movement distance of 1.079." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_375", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 69, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_375.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_909", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_909/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_909/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_909/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.471, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.272, 0.766]). The trajectory involves 167 precise waypoints with total movement distance of 0.982." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_909", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 60, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_909.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_747", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_747/frame_0084.jpg", + "maniskill/PullCubeTool/images/episode_747/frame_0157.jpg", + "maniskill/PullCubeTool/images/episode_747/frame_0683.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.843]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.832]). The trajectory involves 600 precise waypoints with total movement distance of 1.026." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_747", + "trajectory_length": 600, + "key_frame_indices": [ + 0, + 73, + 599 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_747.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_983", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_983/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_983/frame_0153.jpg", + "maniskill/PullCubeTool/images/episode_983/frame_0273.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.320, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.911]). The trajectory involves 199 precise waypoints with total movement distance of 0.978." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_983", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 78, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_983.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_42", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_42/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_42/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_42/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.907]). The trajectory involves 184 precise waypoints with total movement distance of 0.670." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_42", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 76, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_42.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_856", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_856/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_856/frame_0111.jpg", + "maniskill/PullCubeTool/images/episode_856/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.390, 0.685]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.843]). The trajectory involves 163 precise waypoints with total movement distance of 0.542." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_856", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 63, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_856.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_345", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_345/frame_0054.jpg", + "maniskill/PullCubeTool/images/episode_345/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_345/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.470, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.807]). The trajectory involves 181 precise waypoints with total movement distance of 0.966." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_345", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 64, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_345.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_959", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_959/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_959/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_959/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.888]). The trajectory involves 199 precise waypoints with total movement distance of 0.703." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_959", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 78, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_959.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_226", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_226/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_226/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_226/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.706]). The trajectory involves 204 precise waypoints with total movement distance of 1.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_226", + "trajectory_length": 204, + "key_frame_indices": [ + 0, + 69, + 203 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_226.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_293", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_293/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_293/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_293/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.325, 0.672]). The trajectory involves 205 precise waypoints with total movement distance of 0.907." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_293", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 73, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_293.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_863", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_863/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_863/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_863/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.274, 0.752]). The trajectory involves 183 precise waypoints with total movement distance of 0.946." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_863", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 73, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_863.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_46", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_46/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_46/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_46/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.849]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.801]). The trajectory involves 187 precise waypoints with total movement distance of 0.975." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_46", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 65, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_46.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_10", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_10/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_10/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_10/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.321, 0.804]). The trajectory involves 183 precise waypoints with total movement distance of 0.799." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_10", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 71, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_10.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_352", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_352/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_352/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_352/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.431, 0.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.346, 0.913]). The trajectory involves 164 precise waypoints with total movement distance of 0.650." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_352", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 65, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_352.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_383", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_383/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_383/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_383/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.355, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.310, 0.898]). The trajectory involves 179 precise waypoints with total movement distance of 0.848." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_383", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 73, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_383.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_447", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_447/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_447/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_447/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.315, 0.775]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.820]). The trajectory involves 184 precise waypoints with total movement distance of 0.967." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_447", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 72, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_447.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_825", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_825/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_825/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_825/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.849]). The trajectory involves 182 precise waypoints with total movement distance of 0.916." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_825", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 68, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_825.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_756", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_756/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_756/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_756/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.468, 0.766]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.328, 0.812]). The trajectory involves 175 precise waypoints with total movement distance of 0.861." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_756", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 66, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_756.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_354", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_354/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_354/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_354/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.744]). The trajectory involves 196 precise waypoints with total movement distance of 1.003." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_354", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 76, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_354.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_985", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_985/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_985/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_985/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.476, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.902]). The trajectory involves 156 precise waypoints with total movement distance of 0.805." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_985", + "trajectory_length": 156, + "key_frame_indices": [ + 0, + 55, + 155 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_985.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_692", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_692/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_692/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_692/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.413, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.741]). The trajectory involves 175 precise waypoints with total movement distance of 0.697." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_692", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 65, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_692.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_493", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_493/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_493/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_493/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.260, 0.750]). The trajectory involves 175 precise waypoints with total movement distance of 0.712." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_493", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 68, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_493.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_477", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_477/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_477/frame_0192.jpg", + "maniskill/PullCubeTool/images/episode_477/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.423, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.977]). The trajectory involves 163 precise waypoints with total movement distance of 0.564." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_477", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 144, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_477.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_285", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_285/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_285/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_285/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.373, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.899]). The trajectory involves 187 precise waypoints with total movement distance of 0.912." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_285", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 69, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_285.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_926", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_926/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_926/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_926/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.879]). The trajectory involves 165 precise waypoints with total movement distance of 0.865." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_926", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 61, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_926.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_292", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_292/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_292/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_292/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.312, 0.750]). The trajectory involves 180 precise waypoints with total movement distance of 0.978." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_292", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 69, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_292.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_573", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_573/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_573/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_573/frame_0272.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.909]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.874]). The trajectory involves 205 precise waypoints with total movement distance of 0.868." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_573", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 76, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_573.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_122", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_122/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_122/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_122/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.421, 0.754]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 0.808]). The trajectory involves 159 precise waypoints with total movement distance of 0.830." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_122", + "trajectory_length": 159, + "key_frame_indices": [ + 0, + 57, + 158 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_122.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_427", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_427/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_427/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_427/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.300, 0.791]). The trajectory involves 180 precise waypoints with total movement distance of 0.812." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_427", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 71, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_427.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_918", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_918/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_918/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_918/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.771]). The trajectory involves 185 precise waypoints with total movement distance of 0.979." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_918", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 74, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_918.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_635", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_635/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_635/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_635/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.434, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.294, 0.765]). The trajectory involves 172 precise waypoints with total movement distance of 0.789." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_635", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 64, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_635.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_694", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_694/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_694/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_694/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.842]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.928]). The trajectory involves 174 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_694", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 68, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_694.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_519", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_519/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_519/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_519/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.469, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.284, 0.819]). The trajectory involves 169 precise waypoints with total movement distance of 0.926." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_519", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 66, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_519.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_429", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_429/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_429/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_429/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.950]). The trajectory involves 182 precise waypoints with total movement distance of 0.772." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_429", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 71, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_429.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_81", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_81/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_81/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_81/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.485, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.269, 0.726]). The trajectory involves 171 precise waypoints with total movement distance of 1.087." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_81", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 56, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_81.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_753", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_753/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_753/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_753/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.450, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 0.734]). The trajectory involves 193 precise waypoints with total movement distance of 1.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_753", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 68, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_753.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_350", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_350/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_350/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_350/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.365, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.808]). The trajectory involves 204 precise waypoints with total movement distance of 0.781." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_350", + "trajectory_length": 204, + "key_frame_indices": [ + 0, + 82, + 203 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_350.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_593", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_593/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_593/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_593/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.449, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.799]). The trajectory involves 196 precise waypoints with total movement distance of 0.946." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_593", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 63, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_593.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_617", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_617/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_617/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_617/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.440, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.282, 0.833]). The trajectory involves 171 precise waypoints with total movement distance of 0.974." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_617", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 68, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_617.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_549", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_549/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_549/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_549/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.467, 0.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.789]). The trajectory involves 175 precise waypoints with total movement distance of 0.969." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_549", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 65, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_549.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_850", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_850/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_850/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_850/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.324, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.771]). The trajectory involves 185 precise waypoints with total movement distance of 0.962." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_850", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 72, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_850.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_6", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_6/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_6/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_6/frame_0275.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.730]). The trajectory involves 216 precise waypoints with total movement distance of 1.105." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_6", + "trajectory_length": 216, + "key_frame_indices": [ + 0, + 72, + 215 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_6.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_646", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_646/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_646/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_646/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.743]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.883]). The trajectory involves 176 precise waypoints with total movement distance of 0.636." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_646", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 67, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_646.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_34", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_34/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_34/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_34/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.448, 0.812]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.278, 0.810]). The trajectory involves 179 precise waypoints with total movement distance of 1.036." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_34", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 71, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_34.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_767", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_767/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_767/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_767/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.321, 0.870]). The trajectory involves 163 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_767", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 65, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_767.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_906", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_906/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_906/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_906/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.387, 0.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 0.729]). The trajectory involves 182 precise waypoints with total movement distance of 1.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_906", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 67, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_906.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_12", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_12/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_12/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_12/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.797]). The trajectory involves 192 precise waypoints with total movement distance of 0.739." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_12", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 72, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_12.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_599", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_599/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_599/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_599/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.454, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.808]). The trajectory involves 176 precise waypoints with total movement distance of 0.698." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_599", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 64, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_599.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_754", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_754/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_754/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_754/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.347, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.347, 0.797]). The trajectory involves 200 precise waypoints with total movement distance of 1.062." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_754", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 81, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_754.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_948", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_948/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_948/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_948/frame_0282.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.414, 0.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.797]). The trajectory involves 208 precise waypoints with total movement distance of 0.935." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_948", + "trajectory_length": 208, + "key_frame_indices": [ + 0, + 67, + 207 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_948.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_409", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_409/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_409/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_409/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.456, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.829]). The trajectory involves 171 precise waypoints with total movement distance of 0.788." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_409", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 54, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_409.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_605", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_605/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_605/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_605/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.368, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.945]). The trajectory involves 179 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_605", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 72, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_605.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_533", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_533/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_533/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_533/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.428, 0.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.283, 0.813]). The trajectory involves 173 precise waypoints with total movement distance of 0.973." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_533", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 61, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_533.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_239", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_239/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_239/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_239/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.367, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.362, 0.870]). The trajectory involves 183 precise waypoints with total movement distance of 0.635." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_239", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 71, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_239.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_58", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_58/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_58/frame_0107.jpg", + "maniskill/PullCubeTool/images/episode_58/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.351, 0.887]). The trajectory involves 208 precise waypoints with total movement distance of 0.601." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_58", + "trajectory_length": 208, + "key_frame_indices": [ + 0, + 107, + 207 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_58.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_470", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_470/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_470/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_470/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.351, 0.789]). The trajectory involves 193 precise waypoints with total movement distance of 0.985." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_470", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 68, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_470.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_288", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_288/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_288/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_288/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.920]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.312, 0.850]). The trajectory involves 179 precise waypoints with total movement distance of 0.846." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_288", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 71, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_288.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_2", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_2/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_2/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_2/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.798]). The trajectory involves 184 precise waypoints with total movement distance of 0.933." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_2", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 66, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_2.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_365", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_365/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_365/frame_0188.jpg", + "maniskill/PullCubeTool/images/episode_365/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.344, 0.956]). The trajectory involves 161 precise waypoints with total movement distance of 0.539." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_365", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 141, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_365.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_656", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_656/frame_0080.jpg", + "maniskill/PullCubeTool/images/episode_656/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_656/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.350, 0.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.824]). The trajectory involves 181 precise waypoints with total movement distance of 1.021." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_656", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 68, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_656.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_361", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_361/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_361/frame_0157.jpg", + "maniskill/PullCubeTool/images/episode_361/frame_0293.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.316, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.761]). The trajectory involves 218 precise waypoints with total movement distance of 1.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_361", + "trajectory_length": 218, + "key_frame_indices": [ + 0, + 81, + 217 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_361.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_769", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_769/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_769/frame_0109.jpg", + "maniskill/PullCubeTool/images/episode_769/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.438, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.346, 0.849]). The trajectory involves 168 precise waypoints with total movement distance of 0.615." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_769", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 61, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_769.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_399", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_399/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_399/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_399/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.438, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.299, 0.688]). The trajectory involves 185 precise waypoints with total movement distance of 0.945." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_399", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 65, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_399.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_512", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_512/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_512/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_512/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.412, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.272, 0.722]). The trajectory involves 177 precise waypoints with total movement distance of 0.991." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_512", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 68, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_512.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_462", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_462/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_462/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_462/frame_0275.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.387, 0.884]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.774]). The trajectory involves 211 precise waypoints with total movement distance of 1.045." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_462", + "trajectory_length": 211, + "key_frame_indices": [ + 0, + 74, + 210 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_462.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_95", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_95/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_95/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_95/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.424, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.247, 0.788]). The trajectory involves 176 precise waypoints with total movement distance of 0.840." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_95", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 69, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_95.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_553", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_553/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_553/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_553/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.376, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.859]). The trajectory involves 194 precise waypoints with total movement distance of 0.749." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_553", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 78, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_553.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_327", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_327/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_327/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_327/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.422, 0.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.785]). The trajectory involves 172 precise waypoints with total movement distance of 0.704." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_327", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 63, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_327.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_109", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_109/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_109/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_109/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.412, 0.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.361, 0.765]). The trajectory involves 193 precise waypoints with total movement distance of 1.063." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_109", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 70, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_109.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_652", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_652/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_652/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_652/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.272, 0.799]). The trajectory involves 174 precise waypoints with total movement distance of 0.983." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_652", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 65, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_652.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_116", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_116/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_116/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_116/frame_0269.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.376, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.417, 0.893]). The trajectory involves 200 precise waypoints with total movement distance of 0.815." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_116", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 72, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_116.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_988", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_988/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_988/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_988/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.382, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.699]). The trajectory involves 203 precise waypoints with total movement distance of 1.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_988", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 73, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_988.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_911", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_911/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_911/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_911/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.808]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.349, 0.925]). The trajectory involves 169 precise waypoints with total movement distance of 0.813." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_911", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 67, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_911.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_320", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_320/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_320/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_320/frame_0837.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.345, 0.784]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.836]). The trajectory involves 769 precise waypoints with total movement distance of 1.011." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_320", + "trajectory_length": 769, + "key_frame_indices": [ + 0, + 77, + 768 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_320.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_218", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_218/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_218/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_218/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.429, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.722]). The trajectory involves 171 precise waypoints with total movement distance of 0.923." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_218", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 60, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_218.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_188", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_188/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_188/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_188/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.374, 0.846]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.867]). The trajectory involves 197 precise waypoints with total movement distance of 0.937." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_188", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 69, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_188.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_173", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_173/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_173/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_173/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.929]). The trajectory involves 190 precise waypoints with total movement distance of 0.748." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_173", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 73, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_173.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_187", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_187/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_187/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_187/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.403, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.833]). The trajectory involves 179 precise waypoints with total movement distance of 0.941." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_187", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 67, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_187.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_144", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_144/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_144/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_144/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.842]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.314, 0.765]). The trajectory involves 189 precise waypoints with total movement distance of 1.078." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_144", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 71, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_144.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_891", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_891/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_891/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_891/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.349, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.239, 0.759]). The trajectory involves 172 precise waypoints with total movement distance of 1.028." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_891", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 64, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_891.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_977", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_977/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_977/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_977/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.379, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.347, 0.836]). The trajectory involves 190 precise waypoints with total movement distance of 0.888." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_977", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 73, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_977.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_890", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_890/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_890/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_890/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.362, 0.861]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.761]). The trajectory involves 189 precise waypoints with total movement distance of 1.094." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_890", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 72, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_890.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_421", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_421/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_421/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_421/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.326, 0.699]). The trajectory involves 181 precise waypoints with total movement distance of 0.992." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_421", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 56, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_421.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_63", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_63/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_63/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_63/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.870]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.299, 0.855]). The trajectory involves 165 precise waypoints with total movement distance of 0.875." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_63", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 61, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_63.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_979", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_979/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_979/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_979/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.427, 0.876]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.859]). The trajectory involves 179 precise waypoints with total movement distance of 0.848." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_979", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 60, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_979.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_897", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_897/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_897/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_897/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.422, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.948]). The trajectory involves 178 precise waypoints with total movement distance of 0.789." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_897", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 70, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_897.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_393", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_393/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_393/frame_0111.jpg", + "maniskill/PullCubeTool/images/episode_393/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.439, 0.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.878]). The trajectory involves 176 precise waypoints with total movement distance of 0.514." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_393", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 63, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_393.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_774", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_774/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_774/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_774/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.462, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.911]). The trajectory involves 166 precise waypoints with total movement distance of 0.714." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_774", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 55, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_774.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_851", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_851/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_851/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_851/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.258, 0.804]). The trajectory involves 170 precise waypoints with total movement distance of 0.918." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_851", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 67, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_851.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_554", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_554/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_554/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_554/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.394, 0.835]). The trajectory involves 197 precise waypoints with total movement distance of 0.995." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_554", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 75, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_554.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_378", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_378/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_378/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_378/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.269, 0.745]). The trajectory involves 183 precise waypoints with total movement distance of 1.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_378", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 70, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_378.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_78", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_78/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_78/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_78/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.802]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.778]). The trajectory involves 200 precise waypoints with total movement distance of 1.070." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_78", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 69, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_78.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_80", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_80/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_80/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_80/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.338, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.915]). The trajectory involves 186 precise waypoints with total movement distance of 0.881." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_80", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 76, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_80.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_126", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_126/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_126/frame_0194.jpg", + "maniskill/PullCubeTool/images/episode_126/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.911]). The trajectory involves 167 precise waypoints with total movement distance of 0.486." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_126", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 149, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_126.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_552", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_552/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_552/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_552/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.370, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.360, 0.909]). The trajectory involves 179 precise waypoints with total movement distance of 0.872." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_552", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 65, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_552.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_466", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_466/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_466/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_466/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.353, 0.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.310, 0.841]). The trajectory involves 194 precise waypoints with total movement distance of 0.984." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_466", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 79, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_466.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_789", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_789/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_789/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_789/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.260, 0.782]). The trajectory involves 178 precise waypoints with total movement distance of 1.077." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_789", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 71, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_789.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_779", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_779/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_779/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_779/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.480, 0.766]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.315, 0.758]). The trajectory involves 188 precise waypoints with total movement distance of 1.011." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_779", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 70, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_779.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_209", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_209/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_209/frame_0196.jpg", + "maniskill/PullCubeTool/images/episode_209/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.450, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.399, 0.932]). The trajectory involves 166 precise waypoints with total movement distance of 0.550." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_209", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 148, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_209.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_140", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_140/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_140/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_140/frame_0271.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.336, 0.784]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.774]). The trajectory involves 197 precise waypoints with total movement distance of 1.043." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_140", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 72, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_140.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_920", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_920/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_920/frame_0108.jpg", + "maniskill/PullCubeTool/images/episode_920/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.417, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.798]). The trajectory involves 168 precise waypoints with total movement distance of 0.571." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_920", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 63, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_920.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_942", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_942/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_942/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_942/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.403, 0.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.793]). The trajectory involves 194 precise waypoints with total movement distance of 0.821." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_942", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 75, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_942.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_341", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_341/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_341/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_341/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.885]). The trajectory involves 176 precise waypoints with total movement distance of 0.533." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_341", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 67, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_341.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_219", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_219/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_219/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_219/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.373, 0.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.807]). The trajectory involves 188 precise waypoints with total movement distance of 0.952." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_219", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 73, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_219.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_832", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_832/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_832/frame_0157.jpg", + "maniskill/PullCubeTool/images/episode_832/frame_0294.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.377, 0.853]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.888]). The trajectory involves 222 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_832", + "trajectory_length": 222, + "key_frame_indices": [ + 0, + 84, + 221 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_832.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_340", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_340/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_340/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_340/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.377, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.360, 0.835]). The trajectory involves 188 precise waypoints with total movement distance of 0.895." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_340", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 74, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_340.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_94", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_94/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_94/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_94/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.467, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.318, 0.848]). The trajectory involves 163 precise waypoints with total movement distance of 0.836." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_94", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 56, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_94.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_45", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_45/frame_0080.jpg", + "maniskill/PullCubeTool/images/episode_45/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_45/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.882]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.850]). The trajectory involves 187 precise waypoints with total movement distance of 0.926." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_45", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 69, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_45.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_743", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_743/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_743/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_743/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.851]). The trajectory involves 165 precise waypoints with total movement distance of 0.785." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_743", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 63, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_743.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_397", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_397/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_397/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_397/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.716]). The trajectory involves 184 precise waypoints with total movement distance of 0.810." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_397", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 69, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_397.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_893", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_893/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_893/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_893/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.738]). The trajectory involves 193 precise waypoints with total movement distance of 1.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_893", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 70, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_893.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_411", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_411/frame_0046.jpg", + "maniskill/PullCubeTool/images/episode_411/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_411/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.780]). The trajectory involves 182 precise waypoints with total movement distance of 0.600." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_411", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 71, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_411.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_246", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_246/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_246/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_246/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.703]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.842]). The trajectory involves 174 precise waypoints with total movement distance of 0.588." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_246", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 66, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_246.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_597", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_597/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_597/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_597/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.272, 0.771]). The trajectory involves 173 precise waypoints with total movement distance of 1.064." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_597", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 62, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_597.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_709", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_709/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_709/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_709/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.447, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.831]). The trajectory involves 178 precise waypoints with total movement distance of 0.946." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_709", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 66, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_709.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_629", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_629/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_629/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_629/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.336, 0.745]). The trajectory involves 193 precise waypoints with total movement distance of 1.068." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_629", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 71, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_629.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_931", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_931/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_931/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_931/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.281, 0.817]). The trajectory involves 181 precise waypoints with total movement distance of 0.952." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_931", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 68, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_931.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_300", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_300/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_300/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_300/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.312, 0.751]). The trajectory involves 180 precise waypoints with total movement distance of 0.978." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_300", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 69, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_300.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_559", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_559/frame_0054.jpg", + "maniskill/PullCubeTool/images/episode_559/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_559/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.889]). The trajectory involves 160 precise waypoints with total movement distance of 0.613." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_559", + "trajectory_length": 160, + "key_frame_indices": [ + 0, + 61, + 159 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_559.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_741", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_741/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_741/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_741/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.861]). The trajectory involves 193 precise waypoints with total movement distance of 0.857." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_741", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 65, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_741.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_516", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_516/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_516/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_516/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.290, 0.725]). The trajectory involves 180 precise waypoints with total movement distance of 1.154." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_516", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 60, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_516.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_29", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_29/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_29/frame_0154.jpg", + "maniskill/PullCubeTool/images/episode_29/frame_0277.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.328, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.809]). The trajectory involves 201 precise waypoints with total movement distance of 0.998." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_29", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 77, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_29.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_506", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_506/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_506/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_506/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.468, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.301, 0.724]). The trajectory involves 176 precise waypoints with total movement distance of 1.002." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_506", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 68, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_506.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_452", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_452/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_452/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_452/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.761]). The trajectory involves 191 precise waypoints with total movement distance of 0.907." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_452", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 76, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_452.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_594", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_594/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_594/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_594/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.727]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.853]). The trajectory involves 177 precise waypoints with total movement distance of 0.706." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_594", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 71, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_594.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_665", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_665/frame_0081.jpg", + "maniskill/PullCubeTool/images/episode_665/frame_0151.jpg", + "maniskill/PullCubeTool/images/episode_665/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.327, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 0.822]). The trajectory involves 176 precise waypoints with total movement distance of 0.988." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_665", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 70, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_665.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_514", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_514/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_514/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_514/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.430, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.980]). The trajectory involves 164 precise waypoints with total movement distance of 0.733." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_514", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 66, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_514.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_11", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_11/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_11/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_11/frame_0270.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.347, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.713]). The trajectory involves 207 precise waypoints with total movement distance of 0.932." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_11", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 78, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_11.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_951", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_951/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_951/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_951/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.408, 0.802]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.706]). The trajectory involves 185 precise waypoints with total movement distance of 1.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_951", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 68, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_951.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_564", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_564/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_564/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_564/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.435, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.280, 0.834]). The trajectory involves 170 precise waypoints with total movement distance of 0.852." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_564", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 68, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_564.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_821", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_821/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_821/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_821/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.303, 0.798]). The trajectory involves 173 precise waypoints with total movement distance of 1.001." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_821", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 63, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_821.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_829", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_829/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_829/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_829/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.403, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.372, 0.949]). The trajectory involves 180 precise waypoints with total movement distance of 0.815." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_829", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 70, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_829.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_225", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_225/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_225/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_225/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.412, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.314, 0.892]). The trajectory involves 166 precise waypoints with total movement distance of 0.783." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_225", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 61, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_225.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_344", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_344/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_344/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_344/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.335, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.372, 0.909]). The trajectory involves 193 precise waypoints with total movement distance of 0.947." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_344", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 74, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_344.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_834", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_834/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_834/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_834/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.403, 0.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.761]). The trajectory involves 173 precise waypoints with total movement distance of 0.828." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_834", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 67, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_834.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_581", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_581/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_581/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_581/frame_0315.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.784]). The trajectory involves 250 precise waypoints with total movement distance of 0.932." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_581", + "trajectory_length": 250, + "key_frame_indices": [ + 0, + 76, + 249 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_581.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_499", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_499/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_499/frame_0150.jpg", + "maniskill/PullCubeTool/images/episode_499/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.331, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.931]). The trajectory involves 184 precise waypoints with total movement distance of 0.891." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_499", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 74, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_499.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_379", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_379/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_379/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_379/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.360, 0.734]). The trajectory involves 199 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_379", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 74, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_379.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_780", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_780/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_780/frame_0153.jpg", + "maniskill/PullCubeTool/images/episode_780/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.326, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 0.848]). The trajectory involves 194 precise waypoints with total movement distance of 0.943." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_780", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 83, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_780.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_846", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_846/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_846/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_846/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.351, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.313, 0.863]). The trajectory involves 176 precise waypoints with total movement distance of 0.949." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_846", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 68, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_846.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_835", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_835/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_835/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_835/frame_0277.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.351, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.756]). The trajectory involves 210 precise waypoints with total movement distance of 1.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_835", + "trajectory_length": 210, + "key_frame_indices": [ + 0, + 80, + 209 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_835.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_294", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_294/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_294/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_294/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.328, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.331, 0.884]). The trajectory involves 186 precise waypoints with total movement distance of 0.896." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_294", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 73, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_294.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_138", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_138/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_138/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_138/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.415, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.679]). The trajectory involves 188 precise waypoints with total movement distance of 1.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_138", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 60, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_138.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_223", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_223/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_223/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_223/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.415, 0.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.760]). The trajectory involves 184 precise waypoints with total movement distance of 1.052." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_223", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 68, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_223.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_62", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_62/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_62/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_62/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.415, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.328, 0.916]). The trajectory involves 169 precise waypoints with total movement distance of 0.735." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_62", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 70, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_62.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_91", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_91/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_91/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_91/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.272, 0.743]). The trajectory involves 180 precise waypoints with total movement distance of 0.878." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_91", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 67, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_91.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_667", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_667/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_667/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_667/frame_0269.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.449, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.768]). The trajectory involves 207 precise waypoints with total movement distance of 1.035." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_667", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 67, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_667.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_715", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_715/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_715/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_715/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.299, 0.700]). The trajectory involves 188 precise waypoints with total movement distance of 1.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_715", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 68, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_715.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_518", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_518/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_518/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_518/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.753]). The trajectory involves 186 precise waypoints with total movement distance of 0.863." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_518", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 74, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_518.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_451", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_451/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_451/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_451/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.336, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.725]). The trajectory involves 190 precise waypoints with total movement distance of 0.968." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_451", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 71, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_451.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_775", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_775/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_775/frame_0199.jpg", + "maniskill/PullCubeTool/images/episode_775/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.932]). The trajectory involves 170 precise waypoints with total movement distance of 0.565." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_775", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 152, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_775.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_454", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_454/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_454/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_454/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.240, 0.768]). The trajectory involves 181 precise waypoints with total movement distance of 0.952." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_454", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 73, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_454.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_166", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_166/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_166/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_166/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.408, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.330, 0.845]). The trajectory involves 178 precise waypoints with total movement distance of 0.808." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_166", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 70, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_166.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_428", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_428/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_428/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_428/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 0.868]). The trajectory involves 164 precise waypoints with total movement distance of 0.732." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_428", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 66, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_428.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_124", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_124/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_124/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_124/frame_0272.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.368, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.863]). The trajectory involves 203 precise waypoints with total movement distance of 0.935." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_124", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 72, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_124.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_595", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_595/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_595/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_595/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.434, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.894]). The trajectory involves 165 precise waypoints with total movement distance of 0.811." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_595", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 62, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_595.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_41", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_41/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_41/frame_0110.jpg", + "maniskill/PullCubeTool/images/episode_41/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.285, 0.744]). The trajectory involves 166 precise waypoints with total movement distance of 0.644." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_41", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 62, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_41.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_622", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_622/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_622/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_622/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.460, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.828]). The trajectory involves 173 precise waypoints with total movement distance of 0.909." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_622", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 65, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_622.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_615", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_615/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_615/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_615/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.878]). The trajectory involves 168 precise waypoints with total movement distance of 0.739." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_615", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 67, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_615.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_317", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_317/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_317/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_317/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.451, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.272, 0.826]). The trajectory involves 171 precise waypoints with total movement distance of 0.893." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_317", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 65, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_317.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_940", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_940/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_940/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_940/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.380, 0.685]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.685]). The trajectory involves 206 precise waypoints with total movement distance of 0.849." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_940", + "trajectory_length": 206, + "key_frame_indices": [ + 0, + 77, + 205 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_940.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_982", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_982/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_982/frame_0152.jpg", + "maniskill/PullCubeTool/images/episode_982/frame_0272.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.349, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.891]). The trajectory involves 207 precise waypoints with total movement distance of 0.941." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_982", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 86, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_982.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_153", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_153/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_153/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_153/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.771]). The trajectory involves 200 precise waypoints with total movement distance of 1.000." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_153", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 72, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_153.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_217", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_217/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_217/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_217/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.295, 0.697]). The trajectory involves 189 precise waypoints with total movement distance of 1.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_217", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 72, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_217.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_18", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_18/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_18/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_18/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.432, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.946]). The trajectory involves 176 precise waypoints with total movement distance of 0.758." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_18", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 67, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_18.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_614", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_614/frame_0082.jpg", + "maniskill/PullCubeTool/images/episode_614/frame_0161.jpg", + "maniskill/PullCubeTool/images/episode_614/frame_0283.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.345, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.807]). The trajectory involves 202 precise waypoints with total movement distance of 1.060." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_614", + "trajectory_length": 202, + "key_frame_indices": [ + 0, + 79, + 201 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_614.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_161", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_161/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_161/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_161/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.834]). The trajectory involves 179 precise waypoints with total movement distance of 0.932." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_161", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 66, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_161.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_202", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_202/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_202/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_202/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.471, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.881]). The trajectory involves 157 precise waypoints with total movement distance of 0.715." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_202", + "trajectory_length": 157, + "key_frame_indices": [ + 0, + 55, + 156 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_202.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_234", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_234/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_234/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_234/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.298, 0.831]). The trajectory involves 162 precise waypoints with total movement distance of 0.984." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_234", + "trajectory_length": 162, + "key_frame_indices": [ + 0, + 56, + 161 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_234.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_582", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_582/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_582/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_582/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.843]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.734]). The trajectory involves 191 precise waypoints with total movement distance of 1.160." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_582", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 71, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_582.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_380", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_380/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_380/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_380/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.390, 0.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.814]). The trajectory involves 167 precise waypoints with total movement distance of 0.624." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_380", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 58, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_380.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_434", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_434/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_434/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_434/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.483, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.851]). The trajectory involves 164 precise waypoints with total movement distance of 0.749." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_434", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 60, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_434.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_888", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_888/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_888/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_888/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.451, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.807]). The trajectory involves 184 precise waypoints with total movement distance of 0.990." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_888", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 71, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_888.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_90", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_90/frame_0078.jpg", + "maniskill/PullCubeTool/images/episode_90/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_90/frame_0283.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.370, 0.866]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.388, 0.795]). The trajectory involves 206 precise waypoints with total movement distance of 1.044." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_90", + "trajectory_length": 206, + "key_frame_indices": [ + 0, + 69, + 205 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_90.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_613", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_613/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_613/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_613/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.446, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.874]). The trajectory involves 181 precise waypoints with total movement distance of 0.842." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_613", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 68, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_613.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_962", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_962/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_962/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_962/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.388, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.776]). The trajectory involves 194 precise waypoints with total movement distance of 1.047." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_962", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 64, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_962.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_740", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_740/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_740/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_740/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.313, 0.874]). The trajectory involves 157 precise waypoints with total movement distance of 0.861." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_740", + "trajectory_length": 157, + "key_frame_indices": [ + 0, + 58, + 156 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_740.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_366", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_366/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_366/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_366/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.926]). The trajectory involves 212 precise waypoints with total movement distance of 0.783." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_366", + "trajectory_length": 212, + "key_frame_indices": [ + 0, + 113, + 211 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_366.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_701", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_701/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_701/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_701/frame_0280.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.891]). The trajectory involves 209 precise waypoints with total movement distance of 0.928." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_701", + "trajectory_length": 209, + "key_frame_indices": [ + 0, + 71, + 208 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_701.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_476", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_476/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_476/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_476/frame_0273.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.302, 0.699]). The trajectory involves 206 precise waypoints with total movement distance of 1.108." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_476", + "trajectory_length": 206, + "key_frame_indices": [ + 0, + 74, + 205 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_476.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_99", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_99/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_99/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_99/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.362, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.797]). The trajectory involves 181 precise waypoints with total movement distance of 0.727." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_99", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 70, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_99.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_229", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_229/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_229/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_229/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.382, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.770]). The trajectory involves 182 precise waypoints with total movement distance of 0.712." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_229", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 72, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_229.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_843", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_843/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_843/frame_0206.jpg", + "maniskill/PullCubeTool/images/episode_843/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.379, 0.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.903]). The trajectory involves 172 precise waypoints with total movement distance of 0.543." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_843", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 149, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_843.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_645", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_645/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_645/frame_0110.jpg", + "maniskill/PullCubeTool/images/episode_645/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.446, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.889]). The trajectory involves 169 precise waypoints with total movement distance of 0.620." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_645", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 62, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_645.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_101", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_101/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_101/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_101/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.424, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.247, 0.788]). The trajectory involves 176 precise waypoints with total movement distance of 0.840." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_101", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 69, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_101.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_416", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_416/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_416/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_416/frame_1019.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.342, 0.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.830]). The trajectory involves 959 precise waypoints with total movement distance of 1.015." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_416", + "trajectory_length": 959, + "key_frame_indices": [ + 0, + 83, + 958 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_416.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_291", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_291/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_291/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_291/frame_0270.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.358, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.729]). The trajectory involves 212 precise waypoints with total movement distance of 1.057." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_291", + "trajectory_length": 212, + "key_frame_indices": [ + 0, + 82, + 211 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_291.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_404", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_404/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_404/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_404/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.321, 0.861]). The trajectory involves 161 precise waypoints with total movement distance of 0.879." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_404", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 58, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_404.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_912", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_912/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_912/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_912/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.386, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.263, 0.755]). The trajectory involves 178 precise waypoints with total movement distance of 0.921." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_912", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 69, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_912.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_941", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_941/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_941/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_941/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.472, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.761]). The trajectory involves 187 precise waypoints with total movement distance of 0.973." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_941", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 69, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_941.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_586", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_586/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_586/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_586/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.469, 0.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.880]). The trajectory involves 167 precise waypoints with total movement distance of 0.788." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_586", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 55, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_586.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_372", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_372/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_372/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_372/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.935]). The trajectory involves 188 precise waypoints with total movement distance of 0.671." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_372", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 73, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_372.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_583", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_583/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_583/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_583/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.781]). The trajectory involves 194 precise waypoints with total movement distance of 0.947." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_583", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 72, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_583.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_975", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_975/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_975/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_975/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.809]). The trajectory involves 198 precise waypoints with total movement distance of 0.777." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_975", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 75, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_975.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_484", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_484/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_484/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_484/frame_0287.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.359, 0.822]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.846]). The trajectory involves 220 precise waypoints with total movement distance of 1.004." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_484", + "trajectory_length": 220, + "key_frame_indices": [ + 0, + 81, + 219 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_484.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_596", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_596/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_596/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_596/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.867]). The trajectory involves 158 precise waypoints with total movement distance of 0.839." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_596", + "trajectory_length": 158, + "key_frame_indices": [ + 0, + 57, + 157 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_596.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_762", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_762/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_762/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_762/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.422, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.293, 0.803]). The trajectory involves 175 precise waypoints with total movement distance of 1.004." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_762", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 69, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_762.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_54", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_54/frame_0044.jpg", + "maniskill/PullCubeTool/images/episode_54/frame_0111.jpg", + "maniskill/PullCubeTool/images/episode_54/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.427, 0.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.766]). The trajectory involves 188 precise waypoints with total movement distance of 0.660." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_54", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 67, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_54.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_248", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_248/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_248/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_248/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.454, 0.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.359, 0.740]). The trajectory involves 184 precise waypoints with total movement distance of 0.893." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_248", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 64, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_248.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_132", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_132/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_132/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_132/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.445, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.298, 0.831]). The trajectory involves 163 precise waypoints with total movement distance of 0.966." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_132", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 60, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_132.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_616", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_616/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_616/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_616/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.428, 0.867]). The trajectory involves 215 precise waypoints with total movement distance of 0.643." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_616", + "trajectory_length": 215, + "key_frame_indices": [ + 0, + 72, + 214 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_616.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_309", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_309/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_309/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_309/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.353, 0.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.243, 0.767]). The trajectory involves 175 precise waypoints with total movement distance of 0.851." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_309", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 69, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_309.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_823", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_823/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_823/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_823/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.447, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.906]). The trajectory involves 168 precise waypoints with total movement distance of 0.696." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_823", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 56, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_823.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_460", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_460/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_460/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_460/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.950]). The trajectory involves 175 precise waypoints with total movement distance of 0.830." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_460", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 67, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_460.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_424", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_424/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_424/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_424/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.836]). The trajectory involves 196 precise waypoints with total movement distance of 0.934." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_424", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 75, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_424.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_634", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_634/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_634/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_634/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.423, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.811]). The trajectory involves 173 precise waypoints with total movement distance of 0.902." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_634", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 66, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_634.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_563", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_563/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_563/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_563/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.298, 0.801]). The trajectory involves 180 precise waypoints with total movement distance of 0.962." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_563", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 71, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_563.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_19", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_19/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_19/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_19/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.387, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.853]). The trajectory involves 181 precise waypoints with total movement distance of 0.709." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_19", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 70, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_19.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_405", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_405/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_405/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_405/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.438, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.299, 0.688]). The trajectory involves 185 precise waypoints with total movement distance of 0.945." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_405", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 65, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_405.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_487", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_487/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_487/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_487/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.843]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.895]). The trajectory involves 176 precise waypoints with total movement distance of 0.844." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_487", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 63, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_487.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_107", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_107/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_107/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_107/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.347, 0.897]). The trajectory involves 185 precise waypoints with total movement distance of 0.842." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_107", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 74, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_107.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_905", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_905/frame_0079.jpg", + "maniskill/PullCubeTool/images/episode_905/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_905/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.865]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.313, 0.750]). The trajectory involves 187 precise waypoints with total movement distance of 1.101." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_905", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 65, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_905.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_933", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_933/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_933/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_933/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.720]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.261, 0.829]). The trajectory involves 170 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_933", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 63, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_933.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_930", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_930/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_930/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_930/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.842]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.295, 0.713]). The trajectory involves 183 precise waypoints with total movement distance of 1.163." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_930", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 64, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_930.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_781", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_781/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_781/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_781/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.793]). The trajectory involves 173 precise waypoints with total movement distance of 0.582." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_781", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 67, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_781.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_79", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_79/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_79/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_79/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.360, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.892]). The trajectory involves 176 precise waypoints with total movement distance of 0.893." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_79", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 67, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_79.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_117", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_117/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_117/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_117/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.390, 0.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.344, 0.888]). The trajectory involves 176 precise waypoints with total movement distance of 0.590." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_117", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 72, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_117.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_114", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_114/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_114/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_114/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.356, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.302, 0.784]). The trajectory involves 188 precise waypoints with total movement distance of 1.072." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_114", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 73, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_114.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_887", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_887/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_887/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_887/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.808]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.276, 0.765]). The trajectory involves 188 precise waypoints with total movement distance of 1.107." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_887", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 72, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_887.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_523", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_523/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_523/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_523/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.454, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.237, 0.767]). The trajectory involves 164 precise waypoints with total movement distance of 0.940." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_523", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 57, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_523.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_502", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_502/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_502/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_502/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.244, 0.782]). The trajectory involves 186 precise waypoints with total movement distance of 1.049." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_502", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 70, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_502.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_579", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_579/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_579/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_579/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.374, 0.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.298, 0.804]). The trajectory involves 183 precise waypoints with total movement distance of 0.674." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_579", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 70, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_579.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_162", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_162/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_162/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_162/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.385, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.399, 0.852]). The trajectory involves 192 precise waypoints with total movement distance of 0.791." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_162", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 74, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_162.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_139", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_139/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_139/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_139/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.432, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.689]). The trajectory involves 203 precise waypoints with total movement distance of 1.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_139", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 68, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_139.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_207", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_207/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_207/frame_0151.jpg", + "maniskill/PullCubeTool/images/episode_207/frame_0269.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.365, 0.835]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.823]). The trajectory involves 201 precise waypoints with total movement distance of 1.003." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_207", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 82, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_207.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_364", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_364/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_364/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_364/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.780]). The trajectory involves 180 precise waypoints with total movement distance of 1.058." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_364", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 63, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_364.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_474", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_474/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_474/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_474/frame_0284.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.877]). The trajectory involves 220 precise waypoints with total movement distance of 0.893." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_474", + "trajectory_length": 220, + "key_frame_indices": [ + 0, + 79, + 219 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_474.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_186", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_186/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_186/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_186/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.334, 0.754]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.340, 0.795]). The trajectory involves 182 precise waypoints with total movement distance of 0.902." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_186", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 69, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_186.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_718", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_718/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_718/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_718/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.254, 0.754]). The trajectory involves 172 precise waypoints with total movement distance of 1.016." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_718", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 63, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_718.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_772", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_772/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_772/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_772/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.371, 0.805]). The trajectory involves 191 precise waypoints with total movement distance of 0.913." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_772", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 72, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_772.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_436", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_436/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_436/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_436/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.284, 0.751]). The trajectory involves 191 precise waypoints with total movement distance of 1.110." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_436", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 69, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_436.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_557", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_557/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_557/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_557/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.377, 0.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.372, 0.884]). The trajectory involves 183 precise waypoints with total movement distance of 0.689." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_557", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 72, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_557.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_848", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_848/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_848/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_848/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.428, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.898]). The trajectory involves 167 precise waypoints with total movement distance of 0.656." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_848", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 65, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_848.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_142", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_142/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_142/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_142/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.319, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.883]). The trajectory involves 180 precise waypoints with total movement distance of 0.848." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_142", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 72, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_142.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_146", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_146/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_146/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_146/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.336, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.944]). The trajectory involves 182 precise waypoints with total movement distance of 0.873." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_146", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 72, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_146.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_738", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_738/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_738/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_738/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.330, 0.677]). The trajectory involves 196 precise waypoints with total movement distance of 1.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_738", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 66, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_738.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_965", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_965/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_965/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_965/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.376, 0.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 0.713]). The trajectory involves 176 precise waypoints with total movement distance of 0.914." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_965", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 61, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_965.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_827", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_827/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_827/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_827/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.387, 0.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.889]). The trajectory involves 189 precise waypoints with total movement distance of 0.595." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_827", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 75, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_827.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_695", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_695/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_695/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_695/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.436, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.254, 0.744]). The trajectory involves 180 precise waypoints with total movement distance of 0.978." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_695", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 73, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_695.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_681", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_681/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_681/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_681/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.268, 0.837]). The trajectory involves 183 precise waypoints with total movement distance of 0.963." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_681", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 74, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_681.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_783", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_783/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_783/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_783/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.350, 0.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.281, 0.789]). The trajectory involves 173 precise waypoints with total movement distance of 0.817." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_783", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 62, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_783.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_382", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_382/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_382/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_382/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.404, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.245, 0.752]). The trajectory involves 181 precise waypoints with total movement distance of 1.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_382", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 70, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_382.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_901", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_901/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_901/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_901/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.877]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.901]). The trajectory involves 169 precise waypoints with total movement distance of 0.786." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_901", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 67, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_901.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_691", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_691/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_691/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_691/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.432, 0.727]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.318, 0.708]). The trajectory involves 185 precise waypoints with total movement distance of 0.908." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_691", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 65, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_691.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_227", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_227/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_227/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_227/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 0.726]). The trajectory involves 175 precise waypoints with total movement distance of 0.662." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_227", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 69, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_227.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_442", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_442/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_442/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_442/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.432, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.921]). The trajectory involves 166 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_442", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 65, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_442.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_565", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_565/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_565/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_565/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.363, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.866]). The trajectory involves 175 precise waypoints with total movement distance of 0.880." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_565", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 67, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_565.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_778", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_778/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_778/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_778/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.748]). The trajectory involves 191 precise waypoints with total movement distance of 1.070." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_778", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 68, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_778.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_155", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_155/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_155/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_155/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.414, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.819]). The trajectory involves 188 precise waypoints with total movement distance of 0.950." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_155", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 61, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_155.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_815", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_815/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_815/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_815/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.813]). The trajectory involves 170 precise waypoints with total movement distance of 0.918." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_815", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 68, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_815.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_3", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_3/frame_0046.jpg", + "maniskill/PullCubeTool/images/episode_3/frame_0109.jpg", + "maniskill/PullCubeTool/images/episode_3/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.945]). The trajectory involves 166 precise waypoints with total movement distance of 0.552." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_3", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 63, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_3.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_742", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_742/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_742/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_742/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.349, 0.842]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.273, 0.829]). The trajectory involves 177 precise waypoints with total movement distance of 1.000." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_742", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 70, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_742.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_403", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_403/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_403/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_403/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.716]). The trajectory involves 184 precise waypoints with total movement distance of 0.810." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_403", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 69, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_403.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_654", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_654/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_654/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_654/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.664]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.789]). The trajectory involves 211 precise waypoints with total movement distance of 0.592." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_654", + "trajectory_length": 211, + "key_frame_indices": [ + 0, + 76, + 210 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_654.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_129", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_129/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_129/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_129/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.806]). The trajectory involves 188 precise waypoints with total movement distance of 0.767." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_129", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 70, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_129.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_883", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_883/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_883/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_883/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.338, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.941]). The trajectory involves 185 precise waypoints with total movement distance of 0.881." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_883", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 78, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_883.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_862", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_862/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_862/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_862/frame_0262.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.327, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 0.814]). The trajectory involves 196 precise waypoints with total movement distance of 0.974." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_862", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 81, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_862.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_693", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_693/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_693/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_693/frame_0280.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.891]). The trajectory involves 218 precise waypoints with total movement distance of 0.929." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_693", + "trajectory_length": 218, + "key_frame_indices": [ + 0, + 80, + 217 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_693.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_782", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_782/frame_0054.jpg", + "maniskill/PullCubeTool/images/episode_782/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_782/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.432, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.342, 0.951]). The trajectory involves 158 precise waypoints with total movement distance of 0.706." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_782", + "trajectory_length": 158, + "key_frame_indices": [ + 0, + 62, + 157 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_782.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_547", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_547/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_547/frame_0110.jpg", + "maniskill/PullCubeTool/images/episode_547/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.404, 0.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.298, 0.818]). The trajectory involves 210 precise waypoints with total movement distance of 0.538." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_547", + "trajectory_length": 210, + "key_frame_indices": [ + 0, + 110, + 209 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_547.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_714", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_714/frame_0080.jpg", + "maniskill/PullCubeTool/images/episode_714/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_714/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.334, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.344, 0.937]). The trajectory involves 176 precise waypoints with total movement distance of 0.874." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_714", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 69, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_714.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_828", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_828/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_828/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_828/frame_0274.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.377, 0.775]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.845]). The trajectory involves 205 precise waypoints with total movement distance of 0.877." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_828", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 69, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_828.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_69", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_69/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_69/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_69/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.369, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.360, 0.739]). The trajectory involves 206 precise waypoints with total movement distance of 1.037." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_69", + "trajectory_length": 206, + "key_frame_indices": [ + 0, + 76, + 205 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_69.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_727", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_727/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_727/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_727/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.387, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.863]). The trajectory involves 179 precise waypoints with total movement distance of 0.923." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_727", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 70, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_727.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_720", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_720/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_720/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_720/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.376, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.295, 0.754]). The trajectory involves 184 precise waypoints with total movement distance of 1.059." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_720", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 71, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_720.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_830", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_830/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_830/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_830/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.894]). The trajectory involves 188 precise waypoints with total movement distance of 0.900." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_830", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 76, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_830.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_898", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_898/frame_0079.jpg", + "maniskill/PullCubeTool/images/episode_898/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_898/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.865]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.313, 0.750]). The trajectory involves 187 precise waypoints with total movement distance of 1.101." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_898", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 65, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_898.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_978", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_978/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_978/frame_0150.jpg", + "maniskill/PullCubeTool/images/episode_978/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.344, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.876]). The trajectory involves 194 precise waypoints with total movement distance of 0.960." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_978", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 76, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_978.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_7", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_7/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_7/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_7/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.368, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.760]). The trajectory involves 190 precise waypoints with total movement distance of 0.889." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_7", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 76, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_7.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_328", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_328/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_328/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_328/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.886]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.301, 0.865]). The trajectory involves 169 precise waypoints with total movement distance of 0.855." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_328", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 61, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_328.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_489", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_489/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_489/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_489/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.429, 0.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.773]). The trajectory involves 194 precise waypoints with total movement distance of 0.734." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_489", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 68, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_489.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_679", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_679/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_679/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_679/frame_0272.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.330, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.422, 0.890]). The trajectory involves 212 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_679", + "trajectory_length": 212, + "key_frame_indices": [ + 0, + 83, + 211 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_679.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_670", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_670/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_670/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_670/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.408, 0.864]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.935]). The trajectory involves 166 precise waypoints with total movement distance of 0.778." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_670", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 63, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_670.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_923", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_923/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_923/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_923/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.913]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.284, 0.816]). The trajectory involves 190 precise waypoints with total movement distance of 0.926." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_923", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 73, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_923.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_510", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_510/frame_0080.jpg", + "maniskill/PullCubeTool/images/episode_510/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_510/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.884]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.254, 0.754]). The trajectory involves 182 precise waypoints with total movement distance of 1.084." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_510", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 69, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_510.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_972", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_972/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_972/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_972/frame_0262.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.855]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.381, 0.943]). The trajectory involves 186 precise waypoints with total movement distance of 0.900." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_972", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 70, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_972.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_376", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_376/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_376/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_376/frame_0284.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.411, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.340, 0.682]). The trajectory involves 217 precise waypoints with total movement distance of 1.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_376", + "trajectory_length": 217, + "key_frame_indices": [ + 0, + 74, + 216 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_376.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_245", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_245/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_245/frame_0155.jpg", + "maniskill/PullCubeTool/images/episode_245/frame_0285.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.313, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.769]). The trajectory involves 212 precise waypoints with total movement distance of 1.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_245", + "trajectory_length": 212, + "key_frame_indices": [ + 0, + 81, + 211 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_245.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_390", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_390/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_390/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_390/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.389, 0.867]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.887]). The trajectory involves 178 precise waypoints with total movement distance of 0.848." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_390", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 66, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_390.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_86", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_86/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_86/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_86/frame_0315.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.889]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.416, 0.824]). The trajectory involves 249 precise waypoints with total movement distance of 0.926." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_86", + "trajectory_length": 249, + "key_frame_indices": [ + 0, + 70, + 248 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_86.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_996", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_996/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_996/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_996/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.343, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.260, 0.764]). The trajectory involves 184 precise waypoints with total movement distance of 1.124." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_996", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 69, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_996.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_232", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_232/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_232/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_232/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.338, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.287, 0.842]). The trajectory involves 172 precise waypoints with total movement distance of 0.955." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_232", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 66, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_232.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_385", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_385/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_385/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_385/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.377, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.336, 0.874]). The trajectory involves 176 precise waypoints with total movement distance of 0.888." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_385", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 63, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_385.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_947", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_947/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_947/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_947/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.360, 0.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.945]). The trajectory involves 170 precise waypoints with total movement distance of 0.782." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_947", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 67, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_947.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_963", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_963/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_963/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_963/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.363, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.261, 0.737]). The trajectory involves 188 precise waypoints with total movement distance of 1.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_963", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 72, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_963.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_391", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_391/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_391/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_391/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.391, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.285, 0.834]). The trajectory involves 169 precise waypoints with total movement distance of 0.708." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_391", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 69, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_391.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_664", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_664/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_664/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_664/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.425, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.263, 0.732]). The trajectory involves 187 precise waypoints with total movement distance of 1.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_664", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 72, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_664.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_259", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_259/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_259/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_259/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.840]). The trajectory involves 185 precise waypoints with total movement distance of 0.866." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_259", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 65, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_259.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_721", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_721/frame_0044.jpg", + "maniskill/PullCubeTool/images/episode_721/frame_0111.jpg", + "maniskill/PullCubeTool/images/episode_721/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.408, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.801]). The trajectory involves 187 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_721", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 67, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_721.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_346", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_346/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_346/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_346/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.354, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.868]). The trajectory involves 188 precise waypoints with total movement distance of 0.941." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_346", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 72, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_346.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_805", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_805/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_805/frame_0123.jpg", + "maniskill/PullCubeTool/images/episode_805/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.461, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.297, 0.698]). The trajectory involves 180 precise waypoints with total movement distance of 1.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_805", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 58, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_805.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_914", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_914/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_914/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_914/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.433, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.911]). The trajectory involves 190 precise waypoints with total movement distance of 0.827." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_914", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 75, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_914.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_8", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_8/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_8/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_8/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.300, 0.760]). The trajectory involves 187 precise waypoints with total movement distance of 0.999." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_8", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 73, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_8.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_240", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_240/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_240/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_240/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.475, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.854]). The trajectory involves 200 precise waypoints with total movement distance of 0.853." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_240", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 67, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_240.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_723", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_723/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_723/frame_0151.jpg", + "maniskill/PullCubeTool/images/episode_723/frame_0262.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.359, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.786]). The trajectory involves 194 precise waypoints with total movement distance of 1.056." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_723", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 82, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_723.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_587", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_587/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_587/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_587/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.417, 0.876]). The trajectory involves 196 precise waypoints with total movement distance of 0.755." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_587", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 71, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_587.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_332", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_332/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_332/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_332/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.473, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.312, 0.745]). The trajectory involves 175 precise waypoints with total movement distance of 1.019." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_332", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 59, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_332.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_500", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_500/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_500/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_500/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.358, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.813]). The trajectory involves 209 precise waypoints with total movement distance of 0.836." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_500", + "trajectory_length": 209, + "key_frame_indices": [ + 0, + 77, + 208 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_500.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_649", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_649/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_649/frame_0108.jpg", + "maniskill/PullCubeTool/images/episode_649/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.433, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.794]). The trajectory involves 168 precise waypoints with total movement distance of 0.714." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_649", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 63, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_649.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_504", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_504/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_504/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_504/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.901]). The trajectory involves 169 precise waypoints with total movement distance of 0.809." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_504", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 59, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_504.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_662", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_662/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_662/frame_0214.jpg", + "maniskill/PullCubeTool/images/episode_662/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.954]). The trajectory involves 176 precise waypoints with total movement distance of 0.604." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_662", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 157, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_662.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_284", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_284/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_284/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_284/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 0.705]). The trajectory involves 203 precise waypoints with total movement distance of 0.992." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_284", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 69, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_284.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_272", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_272/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_272/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_272/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.334, 0.812]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.273, 0.793]). The trajectory involves 184 precise waypoints with total movement distance of 1.089." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_272", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 71, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_272.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_976", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_976/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_976/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_976/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.359, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.885]). The trajectory involves 185 precise waypoints with total movement distance of 0.797." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_976", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 68, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_976.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_174", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_174/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_174/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_174/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.377, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.349, 0.919]). The trajectory involves 171 precise waypoints with total movement distance of 0.847." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_174", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 67, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_174.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_289", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_289/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_289/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_289/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.894]). The trajectory involves 180 precise waypoints with total movement distance of 0.539." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_289", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 71, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_289.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_529", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_529/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_529/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_529/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.720]). The trajectory involves 199 precise waypoints with total movement distance of 1.112." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_529", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 71, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_529.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_433", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_433/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_433/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_433/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.707]). The trajectory involves 196 precise waypoints with total movement distance of 1.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_433", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 68, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_433.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_184", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_184/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_184/frame_0110.jpg", + "maniskill/PullCubeTool/images/episode_184/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.455, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.859]). The trajectory involves 163 precise waypoints with total movement distance of 0.715." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_184", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 62, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_184.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_551", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_551/frame_0044.jpg", + "maniskill/PullCubeTool/images/episode_551/frame_0108.jpg", + "maniskill/PullCubeTool/images/episode_551/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.425, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.736]). The trajectory involves 172 precise waypoints with total movement distance of 0.697." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_551", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 64, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_551.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_104", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_104/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_104/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_104/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.847]). The trajectory involves 186 precise waypoints with total movement distance of 0.891." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_104", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 67, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_104.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_949", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_949/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_949/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_949/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.874]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 0.778]). The trajectory involves 182 precise waypoints with total movement distance of 1.030." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_949", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 70, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_949.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_196", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_196/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_196/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_196/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.438, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.909]). The trajectory involves 178 precise waypoints with total movement distance of 0.622." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_196", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 65, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_196.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_65", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_65/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_65/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_65/frame_0271.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.345, 0.700]). The trajectory involves 199 precise waypoints with total movement distance of 1.036." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_65", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 64, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_65.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_230", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_230/frame_0078.jpg", + "maniskill/PullCubeTool/images/episode_230/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_230/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.979]). The trajectory involves 174 precise waypoints with total movement distance of 0.862." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_230", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 68, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_230.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_197", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_197/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_197/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_197/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.314, 0.754]). The trajectory involves 196 precise waypoints with total movement distance of 1.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_197", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 71, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_197.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_921", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_921/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_921/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_921/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.813]). The trajectory involves 186 precise waypoints with total movement distance of 0.876." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_921", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 64, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_921.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_381", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_381/frame_0078.jpg", + "maniskill/PullCubeTool/images/episode_381/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_381/frame_0282.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.360, 0.856]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.759]). The trajectory involves 205 precise waypoints with total movement distance of 1.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_381", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 70, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_381.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_128", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_128/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_128/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_128/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 0.763]). The trajectory involves 178 precise waypoints with total movement distance of 0.847." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_128", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 65, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_128.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_958", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_958/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_958/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_958/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.430, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.905]). The trajectory involves 184 precise waypoints with total movement distance of 0.778." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_958", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 69, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_958.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_560", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_560/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_560/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_560/frame_0278.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.738]). The trajectory involves 211 precise waypoints with total movement distance of 1.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_560", + "trajectory_length": 211, + "key_frame_indices": [ + 0, + 68, + 210 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_560.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_508", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_508/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_508/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_508/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.445, 0.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.732]). The trajectory involves 177 precise waypoints with total movement distance of 1.108." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_508", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 61, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_508.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_788", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_788/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_788/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_788/frame_0279.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.845]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.898]). The trajectory involves 213 precise waypoints with total movement distance of 0.923." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_788", + "trajectory_length": 213, + "key_frame_indices": [ + 0, + 81, + 212 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_788.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_836", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_836/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_836/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_836/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.473, 0.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.899]). The trajectory involves 213 precise waypoints with total movement distance of 0.678." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_836", + "trajectory_length": 213, + "key_frame_indices": [ + 0, + 115, + 212 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_836.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_735", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_735/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_735/frame_0110.jpg", + "maniskill/PullCubeTool/images/episode_735/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.457, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.882]). The trajectory involves 212 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_735", + "trajectory_length": 212, + "key_frame_indices": [ + 0, + 110, + 211 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_735.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_143", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_143/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_143/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_143/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.352, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.245, 0.794]). The trajectory involves 182 precise waypoints with total movement distance of 1.072." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_143", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 75, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_143.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_908", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_908/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_908/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_908/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.904]). The trajectory involves 172 precise waypoints with total movement distance of 0.812." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_908", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 69, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_908.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_475", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_475/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_475/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_475/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.731]). The trajectory involves 187 precise waypoints with total movement distance of 1.014." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_475", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 67, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_475.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_944", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_944/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_944/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_944/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.769]). The trajectory involves 195 precise waypoints with total movement distance of 0.745." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_944", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 75, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_944.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_849", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_849/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_849/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_849/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.371, 0.831]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.871]). The trajectory involves 186 precise waypoints with total movement distance of 0.909." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_849", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 69, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_849.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_420", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_420/frame_0054.jpg", + "maniskill/PullCubeTool/images/episode_420/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_420/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.451, 0.734]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.679]). The trajectory involves 191 precise waypoints with total movement distance of 0.980." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_420", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 65, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_420.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_796", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_796/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_796/frame_0123.jpg", + "maniskill/PullCubeTool/images/episode_796/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.461, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.297, 0.698]). The trajectory involves 180 precise waypoints with total movement distance of 1.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_796", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 58, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_796.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_458", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_458/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_458/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_458/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.365, 0.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.287, 0.821]). The trajectory involves 165 precise waypoints with total movement distance of 0.880." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_458", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 61, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_458.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_481", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_481/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_481/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_481/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.371, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.783]). The trajectory involves 189 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_481", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 72, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_481.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_222", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_222/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_222/frame_0109.jpg", + "maniskill/PullCubeTool/images/episode_222/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.321, 0.844]). The trajectory involves 159 precise waypoints with total movement distance of 0.595." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_222", + "trajectory_length": 159, + "key_frame_indices": [ + 0, + 60, + 158 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_222.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_387", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_387/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_387/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_387/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.318, 0.728]). The trajectory involves 189 precise waypoints with total movement distance of 1.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_387", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 73, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_387.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_647", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_647/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_647/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_647/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.381, 0.858]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.899]). The trajectory involves 196 precise waypoints with total movement distance of 0.872." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_647", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 76, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_647.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_337", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_337/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_337/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_337/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.424, 0.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.351, 0.698]). The trajectory involves 198 precise waypoints with total movement distance of 0.834." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_337", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 66, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_337.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_208", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_208/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_208/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_208/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.277, 0.715]). The trajectory involves 187 precise waypoints with total movement distance of 1.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_208", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 70, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_208.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_885", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_885/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_885/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_885/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.365, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.709]). The trajectory involves 184 precise waypoints with total movement distance of 1.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_885", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 65, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_885.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_498", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_498/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_498/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_498/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.468, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.302, 0.724]). The trajectory involves 176 precise waypoints with total movement distance of 1.002." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_498", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 68, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_498.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_946", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_946/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_946/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_946/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.428, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 0.747]). The trajectory involves 172 precise waypoints with total movement distance of 1.123." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_946", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 59, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_946.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_640", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_640/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_640/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_640/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.905]). The trajectory involves 163 precise waypoints with total movement distance of 0.588." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_640", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 64, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_640.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_864", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_864/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_864/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_864/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.342, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.844]). The trajectory involves 189 precise waypoints with total movement distance of 0.998." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_864", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 73, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_864.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_133", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_133/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_133/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_133/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.853]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.797]). The trajectory involves 194 precise waypoints with total movement distance of 0.986." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_133", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 66, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_133.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_791", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_791/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_791/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_791/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.251, 0.746]). The trajectory involves 181 precise waypoints with total movement distance of 1.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_791", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 66, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_791.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_413", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_413/frame_0082.jpg", + "maniskill/PullCubeTool/images/episode_413/frame_0161.jpg", + "maniskill/PullCubeTool/images/episode_413/frame_0284.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.324, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.825]). The trajectory involves 203 precise waypoints with total movement distance of 0.970." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_413", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 79, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_413.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_370", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_370/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_370/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_370/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.732]). The trajectory involves 203 precise waypoints with total movement distance of 1.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_370", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 79, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_370.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_268", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_268/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_268/frame_0151.jpg", + "maniskill/PullCubeTool/images/episode_268/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.340, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.801]). The trajectory involves 196 precise waypoints with total movement distance of 1.056." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_268", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 83, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_268.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_759", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_759/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_759/frame_0154.jpg", + "maniskill/PullCubeTool/images/episode_759/frame_0277.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.363, 0.842]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.340, 0.759]). The trajectory involves 202 precise waypoints with total movement distance of 1.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_759", + "trajectory_length": 202, + "key_frame_indices": [ + 0, + 78, + 201 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_759.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_527", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_527/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_527/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_527/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.343, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 0.854]). The trajectory involves 179 precise waypoints with total movement distance of 0.823." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_527", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 73, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_527.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_394", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_394/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_394/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_394/frame_0301.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.423, 0.836]). The trajectory involves 252 precise waypoints with total movement distance of 0.764." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_394", + "trajectory_length": 252, + "key_frame_indices": [ + 0, + 69, + 251 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_394.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_200", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_200/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_200/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_200/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.438, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.909]). The trajectory involves 178 precise waypoints with total movement distance of 0.622." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_200", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 65, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_200.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_724", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_724/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_724/frame_0153.jpg", + "maniskill/PullCubeTool/images/episode_724/frame_0275.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.341, 0.822]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.849]). The trajectory involves 207 precise waypoints with total movement distance of 1.003." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_724", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 84, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_724.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_520", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_520/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_520/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_520/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.772]). The trajectory involves 186 precise waypoints with total movement distance of 1.066." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_520", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 69, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_520.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_764", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_764/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_764/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_764/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.430, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.867]). The trajectory involves 186 precise waypoints with total movement distance of 0.836." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_764", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 70, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_764.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_351", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_351/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_351/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_351/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.936]). The trajectory involves 187 precise waypoints with total movement distance of 0.838." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_351", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 74, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_351.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_457", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_457/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_457/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_457/frame_0273.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.388, 0.769]). The trajectory involves 217 precise waypoints with total movement distance of 0.757." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_457", + "trajectory_length": 217, + "key_frame_indices": [ + 0, + 76, + 216 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_457.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_973", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_973/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_973/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_973/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.415, 0.775]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.310, 0.879]). The trajectory involves 170 precise waypoints with total movement distance of 0.798." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_973", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 69, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_973.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_526", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_526/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_526/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_526/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.801]). The trajectory involves 170 precise waypoints with total movement distance of 0.993." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_526", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 59, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_526.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_56", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_56/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_56/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_56/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.845]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.849]). The trajectory involves 175 precise waypoints with total movement distance of 0.907." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_56", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 68, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_56.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_636", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_636/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_636/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_636/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.451, 0.802]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.927]). The trajectory involves 168 precise waypoints with total movement distance of 0.811." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_636", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 61, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_636.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_831", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_831/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_831/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_831/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.373, 0.856]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.346, 0.960]). The trajectory involves 185 precise waypoints with total movement distance of 0.838." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_831", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 77, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_831.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_802", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_802/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_802/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_802/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.443, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 0.821]). The trajectory involves 176 precise waypoints with total movement distance of 0.932." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_802", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 71, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_802.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_348", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_348/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_348/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_348/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.381, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.325, 0.826]). The trajectory involves 183 precise waypoints with total movement distance of 0.906." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_348", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 72, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_348.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_445", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_445/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_445/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_445/frame_0285.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.351, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.819]). The trajectory involves 213 precise waypoints with total movement distance of 0.993." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_445", + "trajectory_length": 213, + "key_frame_indices": [ + 0, + 71, + 212 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_445.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_283", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_283/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_283/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_283/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.404, 0.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.346, 0.780]). The trajectory involves 179 precise waypoints with total movement distance of 0.657." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_283", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 69, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_283.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_690", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_690/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_690/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_690/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.379, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.886]). The trajectory involves 177 precise waypoints with total movement distance of 0.718." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_690", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 74, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_690.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_660", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_660/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_660/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_660/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.356, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.262, 0.779]). The trajectory involves 170 precise waypoints with total movement distance of 0.852." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_660", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 62, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_660.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_33", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_33/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_33/frame_0105.jpg", + "maniskill/PullCubeTool/images/episode_33/frame_0205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.344, 0.861]). The trajectory involves 206 precise waypoints with total movement distance of 0.553." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_33", + "trajectory_length": 206, + "key_frame_indices": [ + 0, + 105, + 205 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_33.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_688", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_688/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_688/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_688/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.453, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.713]). The trajectory involves 191 precise waypoints with total movement distance of 0.962." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_688", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 55, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_688.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_577", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_577/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_577/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_577/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.354, 0.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.345, 0.771]). The trajectory involves 186 precise waypoints with total movement distance of 0.998." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_577", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 70, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_577.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_992", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_992/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_992/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_992/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.428, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.869]). The trajectory involves 167 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_992", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 58, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_992.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_854", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_854/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_854/frame_0108.jpg", + "maniskill/PullCubeTool/images/episode_854/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.457, 0.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.896]). The trajectory involves 212 precise waypoints with total movement distance of 0.600." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_854", + "trajectory_length": 212, + "key_frame_indices": [ + 0, + 108, + 211 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_854.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_995", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_995/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_995/frame_0110.jpg", + "maniskill/PullCubeTool/images/episode_995/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.685]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.284, 0.701]). The trajectory involves 172 precise waypoints with total movement distance of 0.786." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_995", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 65, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_995.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_254", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_254/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_254/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_254/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.380, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.796]). The trajectory involves 190 precise waypoints with total movement distance of 1.021." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_254", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 66, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_254.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_710", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_710/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_710/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_710/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.841]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.316, 0.881]). The trajectory involves 165 precise waypoints with total movement distance of 0.853." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_710", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 62, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_710.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_373", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_373/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_373/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_373/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.848]). The trajectory involves 213 precise waypoints with total movement distance of 0.628." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_373", + "trajectory_length": 213, + "key_frame_indices": [ + 0, + 113, + 212 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_373.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_739", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_739/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_739/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_739/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.474, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.331, 0.724]). The trajectory involves 188 precise waypoints with total movement distance of 1.060." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_739", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 69, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_739.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_82", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_82/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_82/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_82/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.788]). The trajectory involves 193 precise waypoints with total movement distance of 1.022." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_82", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 65, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_82.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_459", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_459/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_459/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_459/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.439, 0.856]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.808]). The trajectory involves 178 precise waypoints with total movement distance of 1.003." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_459", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 69, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_459.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_989", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_989/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_989/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_989/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.356, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.325, 0.862]). The trajectory involves 183 precise waypoints with total movement distance of 0.868." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_989", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 75, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_989.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_683", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_683/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_683/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_683/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.822]). The trajectory involves 168 precise waypoints with total movement distance of 0.549." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_683", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 59, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_683.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_125", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_125/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_125/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_125/frame_0271.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.388, 0.882]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.773]). The trajectory involves 200 precise waypoints with total movement distance of 1.031." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_125", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 73, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_125.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_785", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_785/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_785/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_785/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.915]). The trajectory involves 193 precise waypoints with total movement distance of 0.789." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_785", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 80, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_785.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_303", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_303/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_303/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_303/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.379, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.312, 0.801]). The trajectory involves 189 precise waypoints with total movement distance of 1.008." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_303", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 72, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_303.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_960", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_960/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_960/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_960/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.339, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.286, 0.847]). The trajectory involves 186 precise waypoints with total movement distance of 0.904." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_960", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 77, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_960.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_388", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_388/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_388/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_388/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.411, 0.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.861]). The trajectory involves 185 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_388", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 67, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_388.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_258", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_258/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_258/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_258/frame_0269.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.422, 0.888]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.310, 0.667]). The trajectory involves 196 precise waypoints with total movement distance of 1.180." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_258", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 61, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_258.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_48", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_48/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_48/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_48/frame_0270.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.408, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.723]). The trajectory involves 200 precise waypoints with total movement distance of 1.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_48", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 61, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_48.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_590", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_590/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_590/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_590/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.453, 0.827]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.290, 0.814]). The trajectory involves 179 precise waypoints with total movement distance of 1.021." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_590", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 71, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_590.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_415", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_415/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_415/frame_0123.jpg", + "maniskill/PullCubeTool/images/episode_415/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.468, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.809]). The trajectory involves 173 precise waypoints with total movement distance of 1.006." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_415", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 66, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_415.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_719", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_719/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_719/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_719/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.340, 0.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.835]). The trajectory involves 183 precise waypoints with total movement distance of 0.849." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_719", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 69, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_719.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_67", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_67/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_67/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_67/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.365, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.740]). The trajectory involves 206 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_67", + "trajectory_length": 206, + "key_frame_indices": [ + 0, + 80, + 205 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_67.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_814", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_814/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_814/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_814/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.886]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.298, 0.819]). The trajectory involves 177 precise waypoints with total movement distance of 0.955." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_814", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 63, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_814.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_465", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_465/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_465/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_465/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.878]). The trajectory involves 189 precise waypoints with total movement distance of 0.644." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_465", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 71, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_465.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_47", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_47/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_47/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_47/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.336, 0.762]). The trajectory involves 178 precise waypoints with total movement distance of 1.036." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_47", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 60, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_47.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_820", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_820/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_820/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_820/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.429, 0.856]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.794]). The trajectory involves 185 precise waypoints with total movement distance of 0.982." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_820", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 68, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_820.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_443", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_443/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_443/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_443/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.328, 0.865]). The trajectory involves 170 precise waypoints with total movement distance of 0.712." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_443", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 64, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_443.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_473", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_473/frame_0054.jpg", + "maniskill/PullCubeTool/images/episode_473/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_473/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.879]). The trajectory involves 173 precise waypoints with total movement distance of 0.601." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_473", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 68, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_473.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_929", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_929/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_929/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_929/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.907]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.255, 0.767]). The trajectory involves 173 precise waypoints with total movement distance of 1.030." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_929", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 62, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_929.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_839", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_839/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_839/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_839/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.411, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.380, 0.861]). The trajectory involves 171 precise waypoints with total movement distance of 0.515." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_839", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 60, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_839.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_757", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_757/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_757/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_757/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.841]). The trajectory involves 190 precise waypoints with total movement distance of 0.946." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_757", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 72, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_757.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_763", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_763/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_763/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_763/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.325, 0.830]). The trajectory involves 182 precise waypoints with total movement distance of 0.921." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_763", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 59, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_763.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_638", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_638/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_638/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_638/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.440, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.259, 0.735]). The trajectory involves 176 precise waypoints with total movement distance of 0.935." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_638", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 66, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_638.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_751", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_751/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_751/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_751/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.294, 0.709]). The trajectory involves 186 precise waypoints with total movement distance of 0.978." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_751", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 71, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_751.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_401", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_401/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_401/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_401/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.391, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.876]). The trajectory involves 192 precise waypoints with total movement distance of 0.902." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_401", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 69, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_401.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_621", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_621/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_621/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_621/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.468, 0.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.266, 0.813]). The trajectory involves 174 precise waypoints with total movement distance of 0.953." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_621", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 67, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_621.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_456", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_456/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_456/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_456/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.449, 0.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.715]). The trajectory involves 172 precise waypoints with total movement distance of 0.907." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_456", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 56, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_456.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_511", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_511/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_511/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_511/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.253, 0.760]). The trajectory involves 183 precise waypoints with total movement distance of 1.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_511", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 75, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_511.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_483", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_483/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_483/frame_0108.jpg", + "maniskill/PullCubeTool/images/episode_483/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.351, 0.866]). The trajectory involves 173 precise waypoints with total movement distance of 0.605." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_483", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 61, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_483.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_576", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_576/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_576/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_576/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.470, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.772]). The trajectory involves 183 precise waypoints with total movement distance of 0.895." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_576", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 69, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_576.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_347", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_347/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_347/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_347/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.752]). The trajectory involves 177 precise waypoints with total movement distance of 1.065." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_347", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 62, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_347.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_760", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_760/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_760/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_760/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.326, 0.732]). The trajectory involves 180 precise waypoints with total movement distance of 0.762." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_760", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 69, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_760.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_984", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_984/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_984/frame_0107.jpg", + "maniskill/PullCubeTool/images/episode_984/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.428, 0.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.276, 0.830]). The trajectory involves 163 precise waypoints with total movement distance of 0.621." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_984", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 62, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_984.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_505", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_505/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_505/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_505/frame_0285.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.814]). The trajectory involves 223 precise waypoints with total movement distance of 0.945." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_505", + "trajectory_length": 223, + "key_frame_indices": [ + 0, + 70, + 222 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_505.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_183", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_183/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_183/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_183/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.445, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.297, 0.683]). The trajectory involves 191 precise waypoints with total movement distance of 1.222." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_183", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 68, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_183.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_609", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_609/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_609/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_609/frame_0269.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.415, 0.857]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.800]). The trajectory involves 194 precise waypoints with total movement distance of 0.969." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_609", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 61, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_609.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_600", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_600/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_600/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_600/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.449, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.799]). The trajectory involves 205 precise waypoints with total movement distance of 0.947." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_600", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 72, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_600.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_745", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_745/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_745/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_745/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.856]). The trajectory involves 182 precise waypoints with total movement distance of 0.906." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_745", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 70, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_745.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_251", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_251/frame_0044.jpg", + "maniskill/PullCubeTool/images/episode_251/frame_0107.jpg", + "maniskill/PullCubeTool/images/episode_251/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.412, 0.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.783]). The trajectory involves 170 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_251", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 63, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_251.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_89", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_89/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_89/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_89/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.359, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.705]). The trajectory involves 189 precise waypoints with total movement distance of 0.980." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_89", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 66, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_89.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_964", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_964/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_964/frame_0106.jpg", + "maniskill/PullCubeTool/images/episode_964/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.432, 0.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 0.844]). The trajectory involves 209 precise waypoints with total movement distance of 0.620." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_964", + "trajectory_length": 209, + "key_frame_indices": [ + 0, + 106, + 208 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_964.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_496", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_496/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_496/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_496/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.901]). The trajectory involves 169 precise waypoints with total movement distance of 0.809." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_496", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 59, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_496.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_321", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_321/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_321/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_321/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.293, 0.809]). The trajectory involves 179 precise waypoints with total movement distance of 0.919." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_321", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 71, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_321.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_699", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_699/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_699/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_699/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.855]). The trajectory involves 167 precise waypoints with total movement distance of 0.836." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_699", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 62, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_699.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_435", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_435/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_435/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_435/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.336, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.254, 0.803]). The trajectory involves 176 precise waypoints with total movement distance of 1.061." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_435", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 69, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_435.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_601", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_601/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_601/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_601/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.727]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.853]). The trajectory involves 177 precise waypoints with total movement distance of 0.707." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_601", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 71, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_601.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_604", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_604/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_604/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_604/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.273, 0.771]). The trajectory involves 173 precise waypoints with total movement distance of 1.063." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_604", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 62, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_604.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_713", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_713/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_713/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_713/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.393, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.737]). The trajectory involves 189 precise waypoints with total movement distance of 0.905." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_713", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 73, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_713.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_894", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_894/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_894/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_894/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.877]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.901]). The trajectory involves 160 precise waypoints with total movement distance of 0.785." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_894", + "trajectory_length": 160, + "key_frame_indices": [ + 0, + 58, + 159 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_894.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_195", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_195/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_195/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_195/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.356, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.293, 0.769]). The trajectory involves 182 precise waypoints with total movement distance of 0.908." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_195", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 73, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_195.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_731", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_731/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_731/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_731/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.417, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.742]). The trajectory involves 183 precise waypoints with total movement distance of 0.970." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_731", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 67, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_731.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_801", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_801/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_801/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_801/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.694]). The trajectory involves 188 precise waypoints with total movement distance of 0.763." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_801", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 71, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_801.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_765", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_765/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_765/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_765/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.408, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.282, 0.822]). The trajectory involves 173 precise waypoints with total movement distance of 0.768." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_765", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 64, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_765.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_233", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_233/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_233/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_233/frame_0843.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.834]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.443, 0.852]). The trajectory involves 778 precise waypoints with total movement distance of 0.959." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_233", + "trajectory_length": 778, + "key_frame_indices": [ + 0, + 76, + 777 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_233.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_468", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_468/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_468/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_468/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.388, 0.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.912]). The trajectory involves 188 precise waypoints with total movement distance of 0.640." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_468", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 70, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_468.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_852", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_852/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_852/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_852/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.795]). The trajectory involves 172 precise waypoints with total movement distance of 0.972." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_852", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 60, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_852.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_641", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_641/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_641/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_641/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.331, 0.903]). The trajectory involves 174 precise waypoints with total movement distance of 0.697." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_641", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 69, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_641.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_922", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_922/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_922/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_922/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.404, 0.896]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.303, 0.823]). The trajectory involves 170 precise waypoints with total movement distance of 0.898." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_922", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 61, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_922.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_431", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_431/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_431/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_431/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.302, 0.790]). The trajectory involves 177 precise waypoints with total movement distance of 1.028." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_431", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 60, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_431.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_4", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_4/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_4/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_4/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.933]). The trajectory involves 168 precise waypoints with total movement distance of 0.783." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_4", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 67, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_4.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_182", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_182/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_182/frame_0151.jpg", + "maniskill/PullCubeTool/images/episode_182/frame_0296.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.315, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.785]). The trajectory involves 222 precise waypoints with total movement distance of 1.069." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_182", + "trajectory_length": 222, + "key_frame_indices": [ + 0, + 76, + 221 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_182.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_676", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_676/frame_0046.jpg", + "maniskill/PullCubeTool/images/episode_676/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_676/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.388, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.257, 0.736]). The trajectory involves 177 precise waypoints with total movement distance of 0.740." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_676", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 66, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_676.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_927", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_927/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_927/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_927/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.362, 0.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.316, 0.801]). The trajectory involves 189 precise waypoints with total movement distance of 0.748." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_927", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 77, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_927.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_842", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_842/frame_0079.jpg", + "maniskill/PullCubeTool/images/episode_842/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_842/frame_0272.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.441, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.303, 0.678]). The trajectory involves 194 precise waypoints with total movement distance of 1.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_842", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 59, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_842.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_799", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_799/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_799/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_799/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.816]). The trajectory involves 176 precise waypoints with total movement distance of 0.979." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_799", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 71, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_799.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_324", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_324/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_324/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_324/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.251, 0.782]). The trajectory involves 173 precise waypoints with total movement distance of 0.993." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_324", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 68, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_324.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_678", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_678/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_678/frame_0111.jpg", + "maniskill/PullCubeTool/images/episode_678/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.434, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.764]). The trajectory involves 178 precise waypoints with total movement distance of 0.768." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_678", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 64, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_678.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_689", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_689/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_689/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_689/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.415, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.371, 0.926]). The trajectory involves 176 precise waypoints with total movement distance of 0.804." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_689", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 70, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_689.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_810", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_810/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_810/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_810/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.414, 0.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.314, 0.891]). The trajectory involves 152 precise waypoints with total movement distance of 0.639." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_810", + "trajectory_length": 152, + "key_frame_indices": [ + 0, + 53, + 151 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_810.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_422", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_422/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_422/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_422/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.794]). The trajectory involves 170 precise waypoints with total movement distance of 0.953." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_422", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 55, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_422.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_472", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_472/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_472/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_472/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.817]). The trajectory involves 183 precise waypoints with total movement distance of 0.733." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_472", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 70, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_472.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_994", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_994/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_994/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_994/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.490, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.293, 0.864]). The trajectory involves 164 precise waypoints with total movement distance of 0.868." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_994", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 63, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_994.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_938", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_938/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_938/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_938/frame_0770.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.370, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.829]). The trajectory involves 699 precise waypoints with total movement distance of 1.027." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_938", + "trajectory_length": 699, + "key_frame_indices": [ + 0, + 69, + 698 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_938.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_22", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_22/frame_0078.jpg", + "maniskill/PullCubeTool/images/episode_22/frame_0156.jpg", + "maniskill/PullCubeTool/images/episode_22/frame_0276.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.313, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.866]). The trajectory involves 199 precise waypoints with total movement distance of 0.973." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_22", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 78, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_22.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_642", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_642/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_642/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_642/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.414, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.342, 0.796]). The trajectory involves 176 precise waypoints with total movement distance of 0.757." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_642", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 67, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_642.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_585", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_585/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_585/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_585/frame_0277.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.357, 0.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.673]). The trajectory involves 206 precise waypoints with total movement distance of 1.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_585", + "trajectory_length": 206, + "key_frame_indices": [ + 0, + 71, + 205 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_585.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_669", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_669/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_669/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_669/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.381, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.288, 0.704]). The trajectory involves 183 precise waypoints with total movement distance of 1.189." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_669", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 67, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_669.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_281", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_281/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_281/frame_0188.jpg", + "maniskill/PullCubeTool/images/episode_281/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.916]). The trajectory involves 162 precise waypoints with total movement distance of 0.466." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_281", + "trajectory_length": 162, + "key_frame_indices": [ + 0, + 143, + 161 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_281.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_444", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_444/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_444/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_444/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.479, 0.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.284, 0.762]). The trajectory involves 180 precise waypoints with total movement distance of 0.984." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_444", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 71, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_444.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_212", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_212/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_212/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_212/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.373, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.271, 0.836]). The trajectory involves 166 precise waypoints with total movement distance of 0.633." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_212", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 65, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_212.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_936", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_936/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_936/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_936/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.393, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.881]). The trajectory involves 165 precise waypoints with total movement distance of 0.771." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_936", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 66, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_936.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_255", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_255/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_255/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_255/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.471, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.841]). The trajectory involves 168 precise waypoints with total movement distance of 0.765." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_255", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 65, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_255.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_238", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_238/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_238/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_238/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.455, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.267, 0.788]). The trajectory involves 170 precise waypoints with total movement distance of 0.932." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_238", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 66, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_238.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_806", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_806/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_806/frame_0192.jpg", + "maniskill/PullCubeTool/images/episode_806/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.969]). The trajectory involves 210 precise waypoints with total movement distance of 0.645." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_806", + "trajectory_length": 210, + "key_frame_indices": [ + 0, + 192, + 209 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_806.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_148", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_148/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_148/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_148/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.281, 0.858]). The trajectory involves 179 precise waypoints with total movement distance of 0.937." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_148", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 73, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_148.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_100", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_100/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_100/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_100/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.467, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.848]). The trajectory involves 172 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_100", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 65, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_100.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_322", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_322/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_322/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_322/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.464, 0.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.251, 0.750]). The trajectory involves 168 precise waypoints with total movement distance of 1.094." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_322", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 59, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_322.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_934", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_934/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_934/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_934/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.829]). The trajectory involves 186 precise waypoints with total movement distance of 0.968." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_934", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 67, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_934.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_211", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_211/frame_0081.jpg", + "maniskill/PullCubeTool/images/episode_211/frame_0151.jpg", + "maniskill/PullCubeTool/images/episode_211/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.353, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 0.878]). The trajectory involves 184 precise waypoints with total movement distance of 0.929." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_211", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 70, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_211.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_439", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_439/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_439/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_439/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.252, 0.759]). The trajectory involves 187 precise waypoints with total movement distance of 1.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_439", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 75, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_439.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_115", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_115/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_115/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_115/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.461, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 0.803]). The trajectory involves 170 precise waypoints with total movement distance of 0.829." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_115", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 66, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_115.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_524", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_524/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_524/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_524/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.800]). The trajectory involves 181 precise waypoints with total movement distance of 0.991." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_524", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 65, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_524.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_525", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_525/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_525/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_525/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.472, 0.784]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.326, 0.717]). The trajectory involves 193 precise waypoints with total movement distance of 1.109." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_525", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 67, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_525.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_136", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_136/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_136/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_136/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.742]). The trajectory involves 187 precise waypoints with total movement distance of 1.110." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_136", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 70, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_136.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_178", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_178/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_178/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_178/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.472, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.311, 0.853]). The trajectory involves 169 precise waypoints with total movement distance of 0.877." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_178", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 65, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_178.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_602", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_602/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_602/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_602/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.434, 0.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.893]). The trajectory involves 165 precise waypoints with total movement distance of 0.811." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_602", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 62, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_602.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_871", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_871/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_871/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_871/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.373, 0.847]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.970]). The trajectory involves 179 precise waypoints with total movement distance of 0.844." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_871", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 74, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_871.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_651", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_651/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_651/frame_0152.jpg", + "maniskill/PullCubeTool/images/episode_651/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.321, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.838]). The trajectory involves 194 precise waypoints with total movement distance of 0.995." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_651", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 84, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_651.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_515", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_515/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_515/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_515/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.387, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.271, 0.751]). The trajectory involves 176 precise waypoints with total movement distance of 1.102." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_515", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 62, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_515.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_860", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_860/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_860/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_860/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.817]). The trajectory involves 174 precise waypoints with total movement distance of 0.681." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_860", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 63, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_860.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_360", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_360/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_360/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_360/frame_0742.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.430, 0.823]). The trajectory involves 695 precise waypoints with total movement distance of 0.714." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_360", + "trajectory_length": 695, + "key_frame_indices": [ + 0, + 70, + 694 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_360.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_359", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_359/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_359/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_359/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.342, 0.757]). The trajectory involves 180 precise waypoints with total movement distance of 0.717." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_359", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 69, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_359.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_702", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_702/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_702/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_702/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.842]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.928]). The trajectory involves 174 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_702", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 68, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_702.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_797", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_797/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_797/frame_0191.jpg", + "maniskill/PullCubeTool/images/episode_797/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.385, 0.969]). The trajectory involves 209 precise waypoints with total movement distance of 0.645." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_797", + "trajectory_length": 209, + "key_frame_indices": [ + 0, + 191, + 208 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_797.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_127", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_127/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_127/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_127/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.351, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.925]). The trajectory involves 186 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_127", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 72, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_127.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_643", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_643/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_643/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_643/frame_0275.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.352, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.385, 0.785]). The trajectory involves 214 precise waypoints with total movement distance of 0.881." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_643", + "trajectory_length": 214, + "key_frame_indices": [ + 0, + 78, + 213 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_643.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_59", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_59/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_59/frame_0152.jpg", + "maniskill/PullCubeTool/images/episode_59/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.355, 0.847]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 0.955]). The trajectory involves 186 precise waypoints with total movement distance of 0.872." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_59", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 81, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_59.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_703", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_703/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_703/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_703/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.436, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.254, 0.743]). The trajectory involves 180 precise waypoints with total movement distance of 0.978." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_703", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 73, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_703.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_50", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_50/frame_0080.jpg", + "maniskill/PullCubeTool/images/episode_50/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_50/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.744]). The trajectory involves 187 precise waypoints with total movement distance of 1.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_50", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 67, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_50.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_152", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_152/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_152/frame_0156.jpg", + "maniskill/PullCubeTool/images/episode_152/frame_0275.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.336, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.895]). The trajectory involves 201 precise waypoints with total movement distance of 0.964." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_152", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 81, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_152.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_968", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_968/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_968/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_968/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.476, 0.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.741]). The trajectory involves 182 precise waypoints with total movement distance of 1.157." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_968", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 67, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_968.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_534", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_534/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_534/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_534/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.436, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.780]). The trajectory involves 186 precise waypoints with total movement distance of 0.692." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_534", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 67, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_534.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_57", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_57/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_57/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_57/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.363, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.805]). The trajectory involves 187 precise waypoints with total movement distance of 1.025." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_57", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 76, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_57.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_632", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_632/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_632/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_632/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.817]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.962]). The trajectory involves 164 precise waypoints with total movement distance of 0.770." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_632", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 62, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_632.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_53", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_53/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_53/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_53/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.892]). The trajectory involves 175 precise waypoints with total movement distance of 0.807." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_53", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 66, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_53.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_26", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_26/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_26/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_26/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.317, 0.838]). The trajectory involves 155 precise waypoints with total movement distance of 0.692." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_26", + "trajectory_length": 155, + "key_frame_indices": [ + 0, + 54, + 154 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_26.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_179", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_179/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_179/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_179/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.247, 0.794]). The trajectory involves 167 precise waypoints with total movement distance of 0.809." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_179", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 66, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_179.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_333", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_333/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_333/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_333/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.367, 0.862]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.273, 0.767]). The trajectory involves 189 precise waypoints with total movement distance of 1.078." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_333", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 74, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_333.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_339", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_339/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_339/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_339/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.855]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.922]). The trajectory involves 179 precise waypoints with total movement distance of 0.839." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_339", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 73, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_339.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_151", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_151/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_151/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_151/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.354, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.299, 0.765]). The trajectory involves 194 precise waypoints with total movement distance of 1.098." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_151", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 80, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_151.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_900", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_900/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_900/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_900/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.738]). The trajectory involves 202 precise waypoints with total movement distance of 1.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_900", + "trajectory_length": 202, + "key_frame_indices": [ + 0, + 79, + 201 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_900.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_705", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_705/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_705/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_705/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.423, 0.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.307, 0.703]). The trajectory involves 192 precise waypoints with total movement distance of 0.920." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_705", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 71, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_705.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_299", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_299/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_299/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_299/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 0.748]). The trajectory involves 178 precise waypoints with total movement distance of 1.064." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_299", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 65, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_299.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_446", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_446/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_446/frame_0156.jpg", + "maniskill/PullCubeTool/images/episode_446/frame_0281.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.340, 0.799]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.769]). The trajectory involves 205 precise waypoints with total movement distance of 1.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_446", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 79, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_446.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_37", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_37/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_37/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_37/frame_0277.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.376, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.399, 0.790]). The trajectory involves 220 precise waypoints with total movement distance of 0.827." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_37", + "trajectory_length": 220, + "key_frame_indices": [ + 0, + 75, + 219 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_37.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_5", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_5/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_5/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_5/frame_0278.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.333, 0.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.700]). The trajectory involves 208 precise waypoints with total movement distance of 1.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_5", + "trajectory_length": 208, + "key_frame_indices": [ + 0, + 73, + 207 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_5.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_189", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_189/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_189/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_189/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.777]). The trajectory involves 196 precise waypoints with total movement distance of 1.001." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_189", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 71, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_189.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_72", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_72/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_72/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_72/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.283, 0.781]). The trajectory involves 178 precise waypoints with total movement distance of 0.756." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_72", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 70, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_72.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_793", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_793/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_793/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_793/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.443, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 0.821]). The trajectory involves 176 precise waypoints with total movement distance of 0.932." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_793", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 71, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_793.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_725", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_725/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_725/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_725/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.347, 0.843]). The trajectory involves 180 precise waypoints with total movement distance of 0.793." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_725", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 69, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_725.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_589", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_589/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_589/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_589/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.710]). The trajectory involves 185 precise waypoints with total movement distance of 1.050." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_589", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 72, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_589.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_668", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_668/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_668/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_668/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.381, 0.685]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.275, 0.760]). The trajectory involves 179 precise waypoints with total movement distance of 0.710." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_668", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 65, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_668.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_150", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_150/frame_0078.jpg", + "maniskill/PullCubeTool/images/episode_150/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_150/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.341, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.820]). The trajectory involves 183 precise waypoints with total movement distance of 1.010." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_150", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 70, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_150.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_886", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_886/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_886/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_886/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.461, 0.766]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.313, 0.801]). The trajectory involves 161 precise waypoints with total movement distance of 0.880." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_886", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 55, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_886.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_494", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_494/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_494/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_494/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.244, 0.782]). The trajectory involves 186 precise waypoints with total movement distance of 1.049." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_494", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 70, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_494.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_623", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_623/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_623/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_623/frame_0277.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.865]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.798]). The trajectory involves 208 precise waypoints with total movement distance of 1.035." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_623", + "trajectory_length": 208, + "key_frame_indices": [ + 0, + 78, + 207 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_623.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_71", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_71/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_71/frame_0123.jpg", + "maniskill/PullCubeTool/images/episode_71/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.836]). The trajectory involves 180 precise waypoints with total movement distance of 0.676." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_71", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 66, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_71.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_768", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_768/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_768/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_768/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.823]). The trajectory involves 185 precise waypoints with total movement distance of 0.700." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_768", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 69, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_768.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_224", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_224/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_224/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_224/frame_0258.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.412, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.789]). The trajectory involves 199 precise waypoints with total movement distance of 1.007." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_224", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 70, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_224.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_803", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_803/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_803/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_803/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.385, 0.889]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.859]). The trajectory involves 195 precise waypoints with total movement distance of 0.891." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_803", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 75, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_803.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_686", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_686/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_686/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_686/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.473, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.326, 0.689]). The trajectory involves 196 precise waypoints with total movement distance of 1.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_686", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 68, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_686.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_569", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_569/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_569/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_569/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.858]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.300, 0.690]). The trajectory involves 196 precise waypoints with total movement distance of 1.165." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_569", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 75, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_569.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_252", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_252/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_252/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_252/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.333, 0.823]). The trajectory involves 195 precise waypoints with total movement distance of 0.975." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_252", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 76, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_252.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_969", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_969/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_969/frame_0219.jpg", + "maniskill/PullCubeTool/images/episode_969/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.388, 0.743]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.966]). The trajectory involves 167 precise waypoints with total movement distance of 0.662." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_969", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 148, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_969.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_215", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_215/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_215/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_215/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.350, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.253, 0.793]). The trajectory involves 172 precise waypoints with total movement distance of 0.785." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_215", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 69, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_215.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_675", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_675/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_675/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_675/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.814]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.822]). The trajectory involves 193 precise waypoints with total movement distance of 0.963." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_675", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 71, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_675.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_880", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_880/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_880/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_880/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.454, 0.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.790]). The trajectory involves 183 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_880", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 66, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_880.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_903", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_903/frame_0085.jpg", + "maniskill/PullCubeTool/images/episode_903/frame_0155.jpg", + "maniskill/PullCubeTool/images/episode_903/frame_0278.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.385, 0.899]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.820]). The trajectory involves 194 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_903", + "trajectory_length": 194, + "key_frame_indices": [ + 0, + 70, + 193 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_903.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_674", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_674/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_674/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_674/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.253, 0.746]). The trajectory involves 187 precise waypoints with total movement distance of 1.003." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_674", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 75, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_674.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_199", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_199/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_199/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_199/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.295, 0.720]). The trajectory involves 167 precise waypoints with total movement distance of 1.067." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_199", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 57, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_199.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_44", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_44/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_44/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_44/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.348, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.924]). The trajectory involves 191 precise waypoints with total movement distance of 0.776." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_44", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 76, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_44.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_123", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_123/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_123/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_123/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.445, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.776]). The trajectory involves 196 precise waypoints with total movement distance of 0.855." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_123", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 66, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_123.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_52", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_52/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_52/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_52/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.389, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.877]). The trajectory involves 188 precise waypoints with total movement distance of 0.730." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_52", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 73, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_52.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_92", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_92/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_92/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_92/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.940]). The trajectory involves 174 precise waypoints with total movement distance of 0.668." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_92", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 70, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_92.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_410", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_410/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_410/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_410/frame_0279.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.417, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.786]). The trajectory involves 218 precise waypoints with total movement distance of 0.899." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_410", + "trajectory_length": 218, + "key_frame_indices": [ + 0, + 71, + 217 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_410.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_32", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_32/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_32/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_32/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.413, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.260, 0.814]). The trajectory involves 171 precise waypoints with total movement distance of 1.006." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_32", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 68, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_32.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_497", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_497/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_497/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_497/frame_0285.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.815]). The trajectory involves 223 precise waypoints with total movement distance of 0.944." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_497", + "trajectory_length": 223, + "key_frame_indices": [ + 0, + 70, + 222 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_497.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_490", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_490/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_490/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_490/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.378, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.810]). The trajectory involves 187 precise waypoints with total movement distance of 0.838." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_490", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 77, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_490.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_872", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_872/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_872/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_872/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.350, 0.831]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.294, 0.844]). The trajectory involves 189 precise waypoints with total movement distance of 0.980." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_872", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 81, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_872.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_536", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_536/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_536/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_536/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.734]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.259, 0.755]). The trajectory involves 173 precise waypoints with total movement distance of 0.871." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_536", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 67, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_536.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_118", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_118/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_118/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_118/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.489, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.278, 0.742]). The trajectory involves 179 precise waypoints with total movement distance of 1.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_118", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 65, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_118.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_628", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_628/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_628/frame_0153.jpg", + "maniskill/PullCubeTool/images/episode_628/frame_0366.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.328, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.407, 0.798]). The trajectory involves 300 precise waypoints with total movement distance of 1.090." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_628", + "trajectory_length": 300, + "key_frame_indices": [ + 0, + 86, + 299 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_628.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_607", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_607/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_607/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_607/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.423, 0.835]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.301, 0.819]). The trajectory involves 176 precise waypoints with total movement distance of 0.968." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_607", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 70, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_607.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_861", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_861/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_861/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_861/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.359, 0.836]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.246, 0.783]). The trajectory involves 185 precise waypoints with total movement distance of 1.088." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_861", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 74, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_861.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_970", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_970/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_970/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_970/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.422, 0.823]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.347, 0.887]). The trajectory involves 165 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_970", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 61, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_970.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_51", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_51/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_51/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_51/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.428, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.301, 0.899]). The trajectory involves 170 precise waypoints with total movement distance of 0.807." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_51", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 63, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_51.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_28", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_28/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_28/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_28/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.394, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.888]). The trajectory involves 176 precise waypoints with total movement distance of 0.863." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_28", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 73, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_28.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_562", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_562/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_562/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_562/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.310, 0.683]). The trajectory involves 184 precise waypoints with total movement distance of 0.925." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_562", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 65, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_562.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_110", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_110/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_110/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_110/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.341, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.744]). The trajectory involves 180 precise waypoints with total movement distance of 0.969." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_110", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 68, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_110.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_119", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_119/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_119/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_119/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.361, 0.905]). The trajectory involves 182 precise waypoints with total movement distance of 0.830." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_119", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 69, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_119.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_302", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_302/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_302/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_302/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.328, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.331, 0.884]). The trajectory involves 186 precise waypoints with total movement distance of 0.896." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_302", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 73, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_302.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_776", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_776/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_776/frame_0154.jpg", + "maniskill/PullCubeTool/images/episode_776/frame_0285.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.329, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.818]). The trajectory involves 219 precise waypoints with total movement distance of 1.037." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_776", + "trajectory_length": 219, + "key_frame_indices": [ + 0, + 87, + 218 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_776.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_752", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_752/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_752/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_752/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.404, 0.847]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.747]). The trajectory involves 199 precise waypoints with total movement distance of 1.067." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_752", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 70, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_752.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_866", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_866/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_866/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_866/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.359, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.254, 0.770]). The trajectory involves 173 precise waypoints with total movement distance of 0.938." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_866", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 61, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_866.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_286", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_286/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_286/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_286/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.482, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.742]). The trajectory involves 183 precise waypoints with total movement distance of 0.969." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_286", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 62, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_286.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_812", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_812/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_812/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_812/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.352, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.910]). The trajectory involves 198 precise waypoints with total movement distance of 0.916." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_812", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 80, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_812.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_290", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_290/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_290/frame_0195.jpg", + "maniskill/PullCubeTool/images/episode_290/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.423, 0.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.943]). The trajectory involves 153 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_290", + "trajectory_length": 153, + "key_frame_indices": [ + 0, + 135, + 152 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_290.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_997", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_997/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_997/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_997/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.365, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.349, 0.934]). The trajectory involves 178 precise waypoints with total movement distance of 0.850." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_997", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 67, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_997.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_700", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_700/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_700/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_700/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.413, 0.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.334, 0.742]). The trajectory involves 175 precise waypoints with total movement distance of 0.698." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_700", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 65, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_700.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_808", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_808/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_808/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_808/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.816]). The trajectory involves 176 precise waypoints with total movement distance of 0.979." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_808", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 71, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_808.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_711", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_711/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_711/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_711/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.957]). The trajectory involves 160 precise waypoints with total movement distance of 0.644." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_711", + "trajectory_length": 160, + "key_frame_indices": [ + 0, + 61, + 159 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_711.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_556", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_556/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_556/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_556/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.915]). The trajectory involves 191 precise waypoints with total movement distance of 0.827." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_556", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 75, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_556.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_398", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_398/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_398/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_398/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.321, 0.861]). The trajectory involves 161 precise waypoints with total movement distance of 0.879." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_398", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 58, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_398.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_644", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_644/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_644/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_644/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.910]). The trajectory involves 175 precise waypoints with total movement distance of 0.548." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_644", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 67, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_644.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_971", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_971/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_971/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_971/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.251, 0.786]). The trajectory involves 162 precise waypoints with total movement distance of 0.755." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_971", + "trajectory_length": 162, + "key_frame_indices": [ + 0, + 60, + 161 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_971.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_108", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_108/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_108/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_108/frame_0272.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.346, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.359, 0.761]). The trajectory involves 198 precise waypoints with total movement distance of 1.058." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_108", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 70, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_108.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_809", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_809/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_809/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_809/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.357, 0.840]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.342, 0.907]). The trajectory involves 176 precise waypoints with total movement distance of 0.891." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_809", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 69, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_809.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_939", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_939/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_939/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_939/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.473, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.760]). The trajectory involves 182 precise waypoints with total movement distance of 0.904." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_939", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 69, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_939.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_135", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_135/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_135/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_135/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.741]). The trajectory involves 196 precise waypoints with total movement distance of 0.959." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_135", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 65, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_135.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_88", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_88/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_88/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_88/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.385, 0.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.285, 0.742]). The trajectory involves 172 precise waypoints with total movement distance of 0.669." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_88", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 66, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_88.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_792", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_792/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_792/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_792/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.694]). The trajectory involves 188 precise waypoints with total movement distance of 0.763." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_792", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 71, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_792.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_758", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_758/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_758/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_758/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.244, 0.755]). The trajectory involves 177 precise waypoints with total movement distance of 1.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_758", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 62, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_758.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_61", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_61/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_61/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_61/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.364, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.757]). The trajectory involves 198 precise waypoints with total movement distance of 1.071." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_61", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 68, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_61.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_528", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_528/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_528/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_528/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.313, 0.663]). The trajectory involves 205 precise waypoints with total movement distance of 0.902." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_528", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 69, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_528.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_766", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_766/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_766/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_766/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.365, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.906]). The trajectory involves 181 precise waypoints with total movement distance of 0.644." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_766", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 72, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_766.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_567", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_567/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_567/frame_0158.jpg", + "maniskill/PullCubeTool/images/episode_567/frame_0305.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.344, 0.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.428, 0.879]). The trajectory involves 236 precise waypoints with total movement distance of 1.034." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_567", + "trajectory_length": 236, + "key_frame_indices": [ + 0, + 88, + 235 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_567.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_103", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_103/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_103/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_103/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.860]). The trajectory involves 200 precise waypoints with total movement distance of 0.833." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_103", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 76, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_103.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_818", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_818/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_818/frame_0113.jpg", + "maniskill/PullCubeTool/images/episode_818/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.462, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.916]). The trajectory involves 212 precise waypoints with total movement distance of 0.683." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_818", + "trajectory_length": 212, + "key_frame_indices": [ + 0, + 113, + 211 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_818.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_841", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_841/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_841/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_841/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.913]). The trajectory involves 173 precise waypoints with total movement distance of 0.783." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_841", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 69, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_841.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_932", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_932/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_932/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_932/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.312, 0.698]). The trajectory involves 188 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_932", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 67, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_932.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_925", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_925/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_925/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_925/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.475, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.676]). The trajectory involves 193 precise waypoints with total movement distance of 1.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_925", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 58, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_925.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_467", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_467/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_467/frame_0146.jpg", + "maniskill/PullCubeTool/images/episode_467/frame_0272.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.861]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.310, 0.805]). The trajectory involves 202 precise waypoints with total movement distance of 1.028." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_467", + "trajectory_length": 202, + "key_frame_indices": [ + 0, + 75, + 201 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_467.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_697", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_697/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_697/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_697/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.423, 0.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.307, 0.703]). The trajectory involves 192 precise waypoints with total movement distance of 0.920." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_697", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 71, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_697.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_804", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_804/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_804/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_804/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.372, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.709]). The trajectory involves 189 precise waypoints with total movement distance of 1.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_804", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 72, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_804.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_611", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_611/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_611/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_611/frame_0281.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.857]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.381, 0.752]). The trajectory involves 211 precise waypoints with total movement distance of 1.053." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_611", + "trajectory_length": 211, + "key_frame_indices": [ + 0, + 66, + 210 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_611.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_377", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_377/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_377/frame_0107.jpg", + "maniskill/PullCubeTool/images/episode_377/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.277, 0.806]). The trajectory involves 211 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_377", + "trajectory_length": 211, + "key_frame_indices": [ + 0, + 107, + 210 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_377.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_1", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_1/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_1/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_1/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.354, 0.784]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.299, 0.777]). The trajectory involves 187 precise waypoints with total movement distance of 1.010." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_1", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 76, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_1.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_732", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_732/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_732/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_732/frame_0610.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.432, 0.845]). The trajectory involves 550 precise waypoints with total movement distance of 0.930." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_732", + "trajectory_length": 550, + "key_frame_indices": [ + 0, + 76, + 549 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_732.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_77", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_77/frame_0078.jpg", + "maniskill/PullCubeTool/images/episode_77/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_77/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.865]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.279, 0.850]). The trajectory involves 170 precise waypoints with total movement distance of 0.907." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_77", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 60, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_77.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_310", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_310/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_310/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_310/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.397, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.307, 0.766]). The trajectory involves 185 precise waypoints with total movement distance of 0.861." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_310", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 72, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_310.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_540", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_540/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_540/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_540/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.479, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.708]). The trajectory involves 185 precise waypoints with total movement distance of 1.084." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_540", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 72, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_540.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_578", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_578/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_578/frame_0156.jpg", + "maniskill/PullCubeTool/images/episode_578/frame_0272.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.321, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.388, 0.946]). The trajectory involves 197 precise waypoints with total movement distance of 0.975." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_578", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 80, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_578.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_263", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_263/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_263/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_263/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.463, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.326, 0.682]). The trajectory involves 182 precise waypoints with total movement distance of 1.091." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_263", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 57, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_263.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_889", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_889/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_889/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_889/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.473, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.288, 0.853]). The trajectory involves 160 precise waypoints with total movement distance of 0.860." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_889", + "trajectory_length": 160, + "key_frame_indices": [ + 0, + 57, + 159 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_889.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_367", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_367/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_367/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_367/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.370, 0.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.775]). The trajectory involves 196 precise waypoints with total movement distance of 1.050." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_367", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 81, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_367.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_106", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_106/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_106/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_106/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.459, 0.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.264, 0.753]). The trajectory involves 180 precise waypoints with total movement distance of 1.062." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_106", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 67, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_106.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_265", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_265/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_265/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_265/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.365, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.282, 0.746]). The trajectory involves 182 precise waypoints with total movement distance of 0.927." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_265", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 73, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_265.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_535", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_535/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_535/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_535/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.380, 0.824]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.780]). The trajectory involves 179 precise waypoints with total movement distance of 1.048." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_535", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 66, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_535.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_572", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_572/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_572/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_572/frame_0262.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.863]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.840]). The trajectory involves 201 precise waypoints with total movement distance of 0.904." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_572", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 77, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_572.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_673", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_673/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_673/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_673/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.249, 0.751]). The trajectory involves 183 precise waypoints with total movement distance of 0.908." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_673", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 73, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_673.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_326", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_326/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_326/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_326/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.409, 0.841]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.307, 0.796]). The trajectory involves 187 precise waypoints with total movement distance of 1.007." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_326", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 65, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_326.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_749", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_749/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_749/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_749/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.902]). The trajectory involves 170 precise waypoints with total movement distance of 0.831." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_749", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 69, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_749.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_837", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_837/frame_0078.jpg", + "maniskill/PullCubeTool/images/episode_837/frame_0154.jpg", + "maniskill/PullCubeTool/images/episode_837/frame_0276.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.329, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.361, 0.836]). The trajectory involves 199 precise waypoints with total movement distance of 1.028." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_837", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 76, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_837.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_357", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_357/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_357/frame_0106.jpg", + "maniskill/PullCubeTool/images/episode_357/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.424, 0.685]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.845]). The trajectory involves 207 precise waypoints with total movement distance of 0.509." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_357", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 106, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_357.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_648", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_648/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_648/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_648/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.356, 0.810]). The trajectory involves 172 precise waypoints with total movement distance of 0.949." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_648", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 55, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_648.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_157", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_157/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_157/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_157/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.455, 0.817]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.705]). The trajectory involves 187 precise waypoints with total movement distance of 1.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_157", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 63, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_157.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_492", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_492/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_492/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_492/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.358, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.813]). The trajectory involves 209 precise waypoints with total movement distance of 0.836." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_492", + "trajectory_length": 209, + "key_frame_indices": [ + 0, + 77, + 208 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_492.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_895", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_895/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_895/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_895/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.766]). The trajectory involves 198 precise waypoints with total movement distance of 0.947." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_895", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 75, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_895.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_733", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_733/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_733/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_733/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.393, 0.814]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.301, 0.749]). The trajectory involves 175 precise waypoints with total movement distance of 1.099." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_733", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 62, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_733.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_250", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_250/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_250/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_250/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.389, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.884]). The trajectory involves 162 precise waypoints with total movement distance of 0.869." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_250", + "trajectory_length": 162, + "key_frame_indices": [ + 0, + 60, + 161 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_250.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_588", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_588/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_588/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_588/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 0.907]). The trajectory involves 182 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_588", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 69, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_588.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_503", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_503/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_503/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_503/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.449, 0.802]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.808]). The trajectory involves 186 precise waypoints with total movement distance of 0.968." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_503", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 70, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_503.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_131", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_131/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_131/frame_0154.jpg", + "maniskill/PullCubeTool/images/episode_131/frame_0279.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.319, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.844]). The trajectory involves 211 precise waypoints with total movement distance of 0.960." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_131", + "trajectory_length": 211, + "key_frame_indices": [ + 0, + 85, + 210 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_131.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_824", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_824/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_824/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_824/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.406, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.261, 0.738]). The trajectory involves 175 precise waypoints with total movement distance of 0.813." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_824", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 67, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_824.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_666", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_666/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_666/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_666/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.357, 0.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.381, 0.785]). The trajectory involves 203 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_666", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 78, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_666.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_838", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_838/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_838/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_838/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.322, 0.770]). The trajectory involves 188 precise waypoints with total movement distance of 1.013." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_838", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 66, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_838.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_269", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_269/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_269/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_269/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.362, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 0.791]). The trajectory involves 170 precise waypoints with total movement distance of 1.006." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_269", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 65, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_269.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_301", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_301/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_301/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_301/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.325, 0.673]). The trajectory involves 205 precise waypoints with total movement distance of 0.908." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_301", + "trajectory_length": 205, + "key_frame_indices": [ + 0, + 73, + 204 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_301.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_203", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_203/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_203/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_203/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.295, 0.720]). The trajectory involves 176 precise waypoints with total movement distance of 1.067." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_203", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 66, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_203.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_156", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_156/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_156/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_156/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.390, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.302, 0.822]). The trajectory involves 189 precise waypoints with total movement distance of 0.945." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_156", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 72, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_156.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_987", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_987/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_987/frame_0207.jpg", + "maniskill/PullCubeTool/images/episode_987/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.373, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.297, 0.891]). The trajectory involves 226 precise waypoints with total movement distance of 0.536." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_987", + "trajectory_length": 226, + "key_frame_indices": [ + 0, + 207, + 225 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_987.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_961", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_961/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_961/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_961/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.425, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.318, 0.770]). The trajectory involves 189 precise waypoints with total movement distance of 1.069." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_961", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 73, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_961.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_606", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_606/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_606/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_606/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.454, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.808]). The trajectory involves 176 precise waypoints with total movement distance of 0.698." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_606", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 64, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_606.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_603", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_603/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_603/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_603/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.867]). The trajectory involves 158 precise waypoints with total movement distance of 0.839." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_603", + "trajectory_length": 158, + "key_frame_indices": [ + 0, + 57, + 157 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_603.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_986", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_986/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_986/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_986/frame_0265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.438, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.853]). The trajectory involves 204 precise waypoints with total movement distance of 0.900." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_986", + "trajectory_length": 204, + "key_frame_indices": [ + 0, + 70, + 203 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_986.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_966", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_966/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_966/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_966/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.344, 0.822]). The trajectory involves 179 precise waypoints with total movement distance of 0.965." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_966", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 65, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_966.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_541", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_541/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_541/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_541/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.373, 0.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.748]). The trajectory involves 191 precise waypoints with total movement distance of 0.742." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_541", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 76, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_541.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_353", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_353/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_353/frame_0118.jpg", + "maniskill/PullCubeTool/images/episode_353/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.754]). The trajectory involves 190 precise waypoints with total movement distance of 0.796." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_353", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 70, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_353.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_280", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_280/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_280/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_280/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.422, 0.849]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.280, 0.853]). The trajectory involves 167 precise waypoints with total movement distance of 0.921." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_280", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 59, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_280.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_566", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_566/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_566/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_566/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.429, 0.748]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.890]). The trajectory involves 176 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_566", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 69, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_566.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_840", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_840/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_840/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_840/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.422, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.293, 0.819]). The trajectory involves 180 precise waypoints with total movement distance of 0.979." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_840", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 69, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_840.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_414", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_414/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_414/frame_0193.jpg", + "maniskill/PullCubeTool/images/episode_414/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.441, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.903]). The trajectory involves 211 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_414", + "trajectory_length": 211, + "key_frame_indices": [ + 0, + 193, + 210 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_414.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_943", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_943/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_943/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_943/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.340, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.321, 0.853]). The trajectory involves 175 precise waypoints with total movement distance of 0.811." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_943", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 66, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_943.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_811", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_811/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_811/frame_0153.jpg", + "maniskill/PullCubeTool/images/episode_811/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.329, 0.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.291, 0.815]). The trajectory involves 190 precise waypoints with total movement distance of 1.052." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_811", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 78, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_811.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_221", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_221/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_221/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_221/frame_0948.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.343, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.429, 0.816]). The trajectory involves 880 precise waypoints with total movement distance of 1.026." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_221", + "trajectory_length": 880, + "key_frame_indices": [ + 0, + 74, + 879 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_221.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_231", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_231/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_231/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_231/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.400, 0.903]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.911]). The trajectory involves 200 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_231", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 78, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_231.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_275", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_275/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_275/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_275/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.465, 0.822]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.384, 0.945]). The trajectory involves 156 precise waypoints with total movement distance of 0.790." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_275", + "trajectory_length": 156, + "key_frame_indices": [ + 0, + 53, + 155 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_275.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_165", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_165/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_165/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_165/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.463, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.279, 0.766]). The trajectory involves 174 precise waypoints with total movement distance of 0.909." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_165", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 68, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_165.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_571", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_571/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_571/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_571/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.417, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.330, 0.668]). The trajectory involves 199 precise waypoints with total movement distance of 0.986." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_571", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 67, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_571.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_682", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_682/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_682/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_682/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.371, 0.743]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.385, 0.926]). The trajectory involves 192 precise waypoints with total movement distance of 0.730." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_682", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 77, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_682.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_87", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_87/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_87/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_87/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.807]). The trajectory involves 171 precise waypoints with total movement distance of 0.695." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_87", + "trajectory_length": 171, + "key_frame_indices": [ + 0, + 64, + 170 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_87.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_677", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_677/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_677/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_677/frame_0276.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.349, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.329, 0.678]). The trajectory involves 207 precise waypoints with total movement distance of 1.222." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_677", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 72, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_677.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_953", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_953/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_953/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_953/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.389, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.274, 0.723]). The trajectory involves 186 precise waypoints with total movement distance of 1.154." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_953", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 71, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_953.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_455", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_455/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_455/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_455/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.857]). The trajectory involves 188 precise waypoints with total movement distance of 0.733." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_455", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 75, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_455.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_9", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_9/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_9/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_9/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.814]). The trajectory involves 163 precise waypoints with total movement distance of 0.876." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_9", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 57, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_9.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_509", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_509/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_509/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_509/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.442, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.325, 0.809]). The trajectory involves 168 precise waypoints with total movement distance of 0.941." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_509", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 59, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_509.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_658", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_658/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_658/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_658/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.465, 0.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.753]). The trajectory involves 189 precise waypoints with total movement distance of 0.915." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_658", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 66, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_658.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_35", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_35/frame_0049.jpg", + "maniskill/PullCubeTool/images/episode_35/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_35/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.416, 0.840]). The trajectory involves 208 precise waypoints with total movement distance of 0.650." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_35", + "trajectory_length": 208, + "key_frame_indices": [ + 0, + 72, + 207 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_35.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_495", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_495/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_495/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_495/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.449, 0.802]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.808]). The trajectory involves 177 precise waypoints with total movement distance of 0.965." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_495", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 61, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_495.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_237", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_237/frame_0054.jpg", + "maniskill/PullCubeTool/images/episode_237/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_237/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.441, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.271, 0.809]). The trajectory involves 174 precise waypoints with total movement distance of 0.936." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_237", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 71, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_237.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_304", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_304/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_304/frame_0147.jpg", + "maniskill/PullCubeTool/images/episode_304/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.335, 0.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.380, 0.892]). The trajectory involves 197 precise waypoints with total movement distance of 0.812." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_304", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 84, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_304.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_384", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_384/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_384/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_384/frame_0271.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.766]). The trajectory involves 201 precise waypoints with total movement distance of 0.971." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_384", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 70, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_384.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_363", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_363/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_363/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_363/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.475, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 0.780]). The trajectory involves 178 precise waypoints with total movement distance of 0.959." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_363", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 70, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_363.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_544", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_544/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_544/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_544/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.426, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.330, 0.715]). The trajectory involves 170 precise waypoints with total movement distance of 0.829." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_544", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 56, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_544.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_539", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_539/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_539/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_539/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.413, 0.744]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.779]). The trajectory involves 188 precise waypoints with total movement distance of 0.807." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_539", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 70, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_539.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_371", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_371/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_371/frame_0108.jpg", + "maniskill/PullCubeTool/images/episode_371/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.441, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 0.832]). The trajectory involves 173 precise waypoints with total movement distance of 0.693." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_371", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 63, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_371.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_282", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_282/frame_0079.jpg", + "maniskill/PullCubeTool/images/episode_282/frame_0158.jpg", + "maniskill/PullCubeTool/images/episode_282/frame_0271.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.324, 0.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.378, 0.954]). The trajectory involves 193 precise waypoints with total movement distance of 0.964." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_282", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 79, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_282.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_181", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_181/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_181/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_181/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.830]). The trajectory involves 184 precise waypoints with total movement distance of 0.829." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_181", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 75, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_181.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_833", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_833/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_833/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_833/frame_0403.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.462, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.840]). The trajectory involves 346 precise waypoints with total movement distance of 0.917." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_833", + "trajectory_length": 346, + "key_frame_indices": [ + 0, + 67, + 345 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_833.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_264", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_264/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_264/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_264/frame_0359.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.842]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.784]). The trajectory involves 293 precise waypoints with total movement distance of 1.033." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_264", + "trajectory_length": 293, + "key_frame_indices": [ + 0, + 76, + 292 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_264.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_813", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_813/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_813/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_813/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.376, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.407, 0.910]). The trajectory involves 188 precise waypoints with total movement distance of 0.898." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_813", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 69, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_813.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_147", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_147/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_147/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_147/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.370, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.835]). The trajectory involves 202 precise waypoints with total movement distance of 0.871." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_147", + "trajectory_length": 202, + "key_frame_indices": [ + 0, + 68, + 201 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_147.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_870", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_870/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_870/frame_0156.jpg", + "maniskill/PullCubeTool/images/episode_870/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.312, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 0.887]). The trajectory involves 193 precise waypoints with total movement distance of 0.916." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_870", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 85, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_870.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_167", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_167/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_167/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_167/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.445, 0.836]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.911]). The trajectory involves 163 precise waypoints with total movement distance of 0.824." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_167", + "trajectory_length": 163, + "key_frame_indices": [ + 0, + 64, + 162 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_167.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_874", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_874/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_874/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_874/frame_0262.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.338, 0.730]). The trajectory involves 190 precise waypoints with total movement distance of 1.126." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_874", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 64, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_874.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_134", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_134/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_134/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_134/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.445, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.681]). The trajectory involves 190 precise waypoints with total movement distance of 1.163." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_134", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 63, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_134.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_867", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_867/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_867/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_867/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.431, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.720]). The trajectory involves 199 precise waypoints with total movement distance of 0.906." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_867", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 64, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_867.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_247", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_247/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_247/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_247/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.437, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.802]). The trajectory involves 207 precise waypoints with total movement distance of 0.968." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_247", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 70, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_247.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_698", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_698/frame_0052.jpg", + "maniskill/PullCubeTool/images/episode_698/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_698/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.417, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.248, 0.749]). The trajectory involves 174 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_698", + "trajectory_length": 174, + "key_frame_indices": [ + 0, + 68, + 173 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_698.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_952", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_952/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_952/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_952/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.376, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.266, 0.815]). The trajectory involves 164 precise waypoints with total movement distance of 0.878." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_952", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 62, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_952.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_847", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_847/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_847/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_847/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.428, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.280, 0.791]). The trajectory involves 176 precise waypoints with total movement distance of 1.010." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_847", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 68, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_847.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_278", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_278/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_278/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_278/frame_0251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.318, 0.788]). The trajectory involves 177 precise waypoints with total movement distance of 1.033." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_278", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 65, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_278.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_175", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_175/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_175/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_175/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.372, 0.776]). The trajectory involves 191 precise waypoints with total movement distance of 0.763." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_175", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 71, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_175.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_868", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_868/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_868/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_868/frame_0343.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.429, 0.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.817]). The trajectory involves 293 precise waypoints with total movement distance of 0.756." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_868", + "trajectory_length": 293, + "key_frame_indices": [ + 0, + 75, + 292 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_868.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_305", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_305/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_305/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_305/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.466, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.383, 0.885]). The trajectory involves 161 precise waypoints with total movement distance of 0.842." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_305", + "trajectory_length": 161, + "key_frame_indices": [ + 0, + 54, + 160 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_305.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_49", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_49/frame_0068.jpg", + "maniskill/PullCubeTool/images/episode_49/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_49/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.888]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.766]). The trajectory involves 196 precise waypoints with total movement distance of 0.995." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_49", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 70, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_49.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_580", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_580/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_580/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_580/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.369, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.812]). The trajectory involves 193 precise waypoints with total movement distance of 0.959." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_580", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 73, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_580.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_773", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_773/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_773/frame_0195.jpg", + "maniskill/PullCubeTool/images/episode_773/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.443, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.385, 0.967]). The trajectory involves 150 precise waypoints with total movement distance of 0.549." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_773", + "trajectory_length": 150, + "key_frame_indices": [ + 0, + 132, + 149 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_773.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_349", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_349/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_349/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_349/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.324, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.268, 0.727]). The trajectory involves 183 precise waypoints with total movement distance of 1.107." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_349", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 70, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_349.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_748", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_748/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_748/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_748/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.876]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.849]). The trajectory involves 190 precise waypoints with total movement distance of 0.868." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_748", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 67, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_748.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_570", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_570/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_570/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_570/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.423, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.769]). The trajectory involves 193 precise waypoints with total movement distance of 1.074." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_570", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 74, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_570.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_486", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_486/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_486/frame_0112.jpg", + "maniskill/PullCubeTool/images/episode_486/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.297, 0.846]). The trajectory involves 216 precise waypoints with total movement distance of 0.668." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_486", + "trajectory_length": 216, + "key_frame_indices": [ + 0, + 112, + 215 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_486.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_857", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_857/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_857/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_857/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.402, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.394, 0.838]). The trajectory involves 200 precise waypoints with total movement distance of 0.937." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_857", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 78, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_857.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_555", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_555/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_555/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_555/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.460, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.857]). The trajectory involves 176 precise waypoints with total movement distance of 0.709." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_555", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 64, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_555.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_419", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_419/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_419/frame_0123.jpg", + "maniskill/PullCubeTool/images/episode_419/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.463, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.345, 0.799]). The trajectory involves 179 precise waypoints with total movement distance of 1.008." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_419", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 65, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_419.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_919", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_919/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_919/frame_0123.jpg", + "maniskill/PullCubeTool/images/episode_919/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.428, 0.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.324, 0.724]). The trajectory involves 182 precise waypoints with total movement distance of 0.910." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_919", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 70, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_919.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_441", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_441/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_441/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_441/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.432, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.327, 0.902]). The trajectory involves 218 precise waypoints with total movement distance of 0.648." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_441", + "trajectory_length": 218, + "key_frame_indices": [ + 0, + 121, + 217 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_441.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_96", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_96/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_96/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_96/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.473, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.307, 0.887]). The trajectory involves 159 precise waypoints with total movement distance of 0.732." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_96", + "trajectory_length": 159, + "key_frame_indices": [ + 0, + 58, + 158 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_96.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_277", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_277/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_277/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_277/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.414, 0.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.332, 0.798]). The trajectory involves 182 precise waypoints with total movement distance of 1.004." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_277", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 68, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_277.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_43", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_43/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_43/frame_0109.jpg", + "maniskill/PullCubeTool/images/episode_43/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.421, 0.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.257, 0.761]). The trajectory involves 169 precise waypoints with total movement distance of 0.727." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_43", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 64, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_43.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_794", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_794/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_794/frame_0145.jpg", + "maniskill/PullCubeTool/images/episode_794/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.385, 0.889]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.859]). The trajectory involves 195 precise waypoints with total movement distance of 0.898." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_794", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 75, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_794.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_546", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_546/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_546/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_546/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.450, 0.818]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.371, 0.896]). The trajectory involves 164 precise waypoints with total movement distance of 0.826." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_546", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 58, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_546.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_190", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_190/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_190/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_190/frame_0306.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.391, 0.831]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.788]). The trajectory involves 235 precise waypoints with total movement distance of 1.047." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_190", + "trajectory_length": 235, + "key_frame_indices": [ + 0, + 66, + 234 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_190.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_980", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_980/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_980/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_980/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.360, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.269, 0.738]). The trajectory involves 182 precise waypoints with total movement distance of 1.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_980", + "trajectory_length": 182, + "key_frame_indices": [ + 0, + 70, + 181 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_980.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_76", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_76/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_76/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_76/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.862]). The trajectory involves 191 precise waypoints with total movement distance of 0.808." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_76", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 73, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_76.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_746", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_746/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_746/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_746/frame_0349.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.433, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.853]). The trajectory involves 284 precise waypoints with total movement distance of 0.908." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_746", + "trajectory_length": 284, + "key_frame_indices": [ + 0, + 76, + 283 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_746.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_928", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_928/frame_0081.jpg", + "maniskill/PullCubeTool/images/episode_928/frame_0155.jpg", + "maniskill/PullCubeTool/images/episode_928/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.317, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.319, 0.928]). The trajectory involves 179 precise waypoints with total movement distance of 0.839." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_928", + "trajectory_length": 179, + "key_frame_indices": [ + 0, + 74, + 178 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_928.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_355", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_355/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_355/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_355/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.390, 0.674]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.858]). The trajectory involves 207 precise waypoints with total movement distance of 0.602." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_355", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 73, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_355.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_637", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_637/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_637/frame_0150.jpg", + "maniskill/PullCubeTool/images/episode_637/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.323, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.297, 0.722]). The trajectory involves 201 precise waypoints with total movement distance of 1.161." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_637", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 83, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_637.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_253", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_253/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_253/frame_0144.jpg", + "maniskill/PullCubeTool/images/episode_253/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.364, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.769]). The trajectory involves 197 precise waypoints with total movement distance of 1.016." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_253", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 73, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_253.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_608", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_608/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_608/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_608/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.389, 0.855]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.864]). The trajectory involves 170 precise waypoints with total movement distance of 0.880." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_608", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 62, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_608.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_696", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_696/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_696/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_696/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.698]). The trajectory involves 207 precise waypoints with total movement distance of 1.006." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_696", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 76, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_696.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_330", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_330/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_330/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_330/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.435, 0.788]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.793]). The trajectory involves 184 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_330", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 66, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_330.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_266", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_266/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_266/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_266/frame_0330.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.444, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.805]). The trajectory involves 266 precise waypoints with total movement distance of 0.972." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_266", + "trajectory_length": 266, + "key_frame_indices": [ + 0, + 60, + 265 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_266.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_68", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_68/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_68/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_68/frame_0270.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.391, 0.840]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.774]). The trajectory involves 199 precise waypoints with total movement distance of 1.059." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_68", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 65, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_68.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_236", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_236/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_236/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_236/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.413, 0.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.284, 0.859]). The trajectory involves 173 precise waypoints with total movement distance of 0.861." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_236", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 70, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_236.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_313", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_313/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_313/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_313/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.391, 0.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.824]). The trajectory involves 186 precise waypoints with total movement distance of 0.959." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_313", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 65, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_313.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_786", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_786/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_786/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_786/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.354, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.381, 0.828]). The trajectory involves 192 precise waypoints with total movement distance of 0.794." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_786", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 68, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_786.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_657", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_657/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_657/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_657/frame_0256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.390, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.740]). The trajectory involves 198 precise waypoints with total movement distance of 0.990." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_657", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 73, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_657.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_440", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_440/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_440/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_440/frame_0279.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.357, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, 0.831]). The trajectory involves 207 precise waypoints with total movement distance of 0.905." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_440", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 75, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_440.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_137", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_137/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_137/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_137/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.896]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.296, 0.736]). The trajectory involves 198 precise waypoints with total movement distance of 1.062." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_137", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 75, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_137.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_819", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_819/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_819/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_819/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.392, 0.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.300, 0.757]). The trajectory involves 175 precise waypoints with total movement distance of 0.763." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_819", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 67, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_819.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_532", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_532/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_532/frame_0213.jpg", + "maniskill/PullCubeTool/images/episode_532/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.388, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.942]). The trajectory involves 175 precise waypoints with total movement distance of 0.616." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_532", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 157, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_532.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_787", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_787/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_787/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_787/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.475, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.294, 0.718]). The trajectory involves 185 precise waypoints with total movement distance of 1.087." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_787", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 70, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_787.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_21", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_21/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_21/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_21/frame_0282.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.373, 0.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.755]). The trajectory involves 220 precise waypoints with total movement distance of 1.109." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_21", + "trajectory_length": 220, + "key_frame_indices": [ + 0, + 76, + 219 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_21.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_910", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_910/frame_0077.jpg", + "maniskill/PullCubeTool/images/episode_910/frame_0143.jpg", + "maniskill/PullCubeTool/images/episode_910/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.371, 0.856]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.342, 0.927]). The trajectory involves 172 precise waypoints with total movement distance of 0.852." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_910", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 66, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_910.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_120", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_120/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_120/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_120/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.347, 0.708]). The trajectory involves 202 precise waypoints with total movement distance of 1.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_120", + "trajectory_length": 202, + "key_frame_indices": [ + 0, + 70, + 201 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_120.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_950", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_950/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_950/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_950/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.344, 0.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.360, 0.840]). The trajectory involves 199 precise waypoints with total movement distance of 0.845." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_950", + "trajectory_length": 199, + "key_frame_indices": [ + 0, + 79, + 198 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_950.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_438", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_438/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_438/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_438/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.447, 0.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.260, 0.767]). The trajectory involves 172 precise waypoints with total movement distance of 1.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_438", + "trajectory_length": 172, + "key_frame_indices": [ + 0, + 61, + 171 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_438.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_991", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_991/frame_0050.jpg", + "maniskill/PullCubeTool/images/episode_991/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_991/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.420, 0.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.370, 0.846]). The trajectory involves 183 precise waypoints with total movement distance of 0.540." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_991", + "trajectory_length": 183, + "key_frame_indices": [ + 0, + 65, + 182 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_991.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_704", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_704/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_704/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_704/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.698]). The trajectory involves 207 precise waypoints with total movement distance of 1.006." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_704", + "trajectory_length": 207, + "key_frame_indices": [ + 0, + 76, + 206 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_704.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_935", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_935/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_935/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_935/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.388, 0.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.347, 0.748]). The trajectory involves 196 precise waypoints with total movement distance of 0.968." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_935", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 73, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_935.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_70", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_70/frame_0060.jpg", + "maniskill/PullCubeTool/images/episode_70/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_70/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.403, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.764]). The trajectory involves 184 precise waypoints with total movement distance of 1.066." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_70", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 69, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_70.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_149", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_149/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_149/frame_0110.jpg", + "maniskill/PullCubeTool/images/episode_149/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.449, 0.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.311, 0.836]). The trajectory involves 165 precise waypoints with total movement distance of 0.708." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_149", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 62, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_149.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_537", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_537/frame_0078.jpg", + "maniskill/PullCubeTool/images/episode_537/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_537/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.440, 0.841]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.310, 0.705]). The trajectory involves 186 precise waypoints with total movement distance of 1.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_537", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 59, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_537.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_625", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_625/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_625/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_625/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.879]). The trajectory involves 189 precise waypoints with total movement distance of 0.845." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_625", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 71, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_625.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_491", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_491/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_491/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_491/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.424, 0.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.336, 0.871]). The trajectory involves 165 precise waypoints with total movement distance of 0.614." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_491", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 58, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_491.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_974", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_974/frame_0065.jpg", + "maniskill/PullCubeTool/images/episode_974/frame_0135.jpg", + "maniskill/PullCubeTool/images/episode_974/frame_0254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.399, 0.849]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.344, 0.798]). The trajectory involves 190 precise waypoints with total movement distance of 0.989." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_974", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 70, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_974.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_260", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_260/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_260/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_260/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.384, 0.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.778]). The trajectory involves 186 precise waypoints with total movement distance of 0.797." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_260", + "trajectory_length": 186, + "key_frame_indices": [ + 0, + 71, + 185 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_260.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_130", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_130/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_130/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_130/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.773]). The trajectory involves 190 precise waypoints with total movement distance of 0.776." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_130", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 74, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_130.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_913", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_913/frame_0080.jpg", + "maniskill/PullCubeTool/images/episode_913/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_913/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.335, 0.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.303, 0.826]). The trajectory involves 178 precise waypoints with total movement distance of 0.943." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_913", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 69, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_913.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_876", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_876/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_876/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_876/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.900]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.331, 0.896]). The trajectory involves 178 precise waypoints with total movement distance of 0.798." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_876", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 69, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_876.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_102", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_102/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_102/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_102/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.473, 0.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.306, 0.888]). The trajectory involves 168 precise waypoints with total movement distance of 0.732." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_102", + "trajectory_length": 168, + "key_frame_indices": [ + 0, + 67, + 167 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_102.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_437", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_437/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_437/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_437/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.457, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.826]). The trajectory involves 185 precise waypoints with total movement distance of 0.700." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_437", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 66, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_437.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_25", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_25/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_25/frame_0141.jpg", + "maniskill/PullCubeTool/images/episode_25/frame_0257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.385, 0.870]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.285, 0.744]). The trajectory involves 189 precise waypoints with total movement distance of 1.089." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_25", + "trajectory_length": 189, + "key_frame_indices": [ + 0, + 72, + 188 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_25.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_66", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_66/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_66/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_66/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.404, 0.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 0.852]). The trajectory involves 170 precise waypoints with total movement distance of 0.709." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_66", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 69, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_66.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_335", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_335/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_335/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_335/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.366, 0.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.349, 0.819]). The trajectory involves 184 precise waypoints with total movement distance of 0.974." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_335", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 67, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_335.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_111", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_111/frame_0075.jpg", + "maniskill/PullCubeTool/images/episode_111/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_111/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.419, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 0.892]). The trajectory involves 164 precise waypoints with total movement distance of 0.799." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_111", + "trajectory_length": 164, + "key_frame_indices": [ + 0, + 58, + 163 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_111.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_426", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_426/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_426/frame_0138.jpg", + "maniskill/PullCubeTool/images/episode_426/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.367, 0.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.374, 0.780]). The trajectory involves 190 precise waypoints with total movement distance of 0.997." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_426", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 67, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_426.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_36", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_36/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_36/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_36/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.403, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.267, 0.736]). The trajectory involves 190 precise waypoints with total movement distance of 1.090." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_36", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 71, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_36.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_204", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_204/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_204/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_204/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.361, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.878]). The trajectory involves 196 precise waypoints with total movement distance of 0.940." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_204", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 77, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_204.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_213", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_213/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_213/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_213/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.407, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.860]). The trajectory involves 180 precise waypoints with total movement distance of 0.763." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_213", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 71, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_213.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_591", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_591/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_591/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_591/frame_0245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.749]). The trajectory involves 187 precise waypoints with total movement distance of 0.974." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_591", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 73, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_591.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_744", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_744/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_744/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_744/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.431, 0.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.258, 0.765]). The trajectory involves 167 precise waypoints with total movement distance of 0.998." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_744", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 60, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_744.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_98", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_98/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_98/frame_0142.jpg", + "maniskill/PullCubeTool/images/episode_98/frame_0260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.847]). The trajectory involves 195 precise waypoints with total movement distance of 0.892." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_98", + "trajectory_length": 195, + "key_frame_indices": [ + 0, + 76, + 194 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_98.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_262", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_262/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_262/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_262/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.428, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.743]). The trajectory involves 203 precise waypoints with total movement distance of 0.824." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_262", + "trajectory_length": 203, + "key_frame_indices": [ + 0, + 58, + 202 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_262.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_267", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_267/frame_0061.jpg", + "maniskill/PullCubeTool/images/episode_267/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_267/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.405, 0.819]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 0.783]). The trajectory involves 190 precise waypoints with total movement distance of 1.027." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_267", + "trajectory_length": 190, + "key_frame_indices": [ + 0, + 69, + 189 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_267.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_244", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_244/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_244/frame_0121.jpg", + "maniskill/PullCubeTool/images/episode_244/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.464, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.876]). The trajectory involves 176 precise waypoints with total movement distance of 0.855." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_244", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 57, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_244.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_311", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_311/frame_0059.jpg", + "maniskill/PullCubeTool/images/episode_311/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_311/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.395, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.858]). The trajectory involves 169 precise waypoints with total movement distance of 0.795." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_311", + "trajectory_length": 169, + "key_frame_indices": [ + 0, + 66, + 168 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_311.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_937", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_937/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_937/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_937/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.463, 0.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.276, 0.838]). The trajectory involves 165 precise waypoints with total movement distance of 0.952." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_937", + "trajectory_length": 165, + "key_frame_indices": [ + 0, + 56, + 164 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_937.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_17", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_17/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_17/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_17/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.413, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.980]). The trajectory involves 158 precise waypoints with total movement distance of 0.739." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_17", + "trajectory_length": 158, + "key_frame_indices": [ + 0, + 60, + 157 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_17.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_981", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_981/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_981/frame_0114.jpg", + "maniskill/PullCubeTool/images/episode_981/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.393, 0.659]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.984]). The trajectory involves 170 precise waypoints with total movement distance of 0.648." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_981", + "trajectory_length": 170, + "key_frame_indices": [ + 0, + 69, + 169 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_981.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_730", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_730/frame_0063.jpg", + "maniskill/PullCubeTool/images/episode_730/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_730/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.461, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 0.760]). The trajectory involves 176 precise waypoints with total movement distance of 1.076." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_730", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 57, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_730.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_618", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_618/frame_0069.jpg", + "maniskill/PullCubeTool/images/episode_618/frame_0130.jpg", + "maniskill/PullCubeTool/images/episode_618/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.398, 0.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.715]). The trajectory involves 200 precise waypoints with total movement distance of 1.155." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_618", + "trajectory_length": 200, + "key_frame_indices": [ + 0, + 61, + 199 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_618.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_306", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_306/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_306/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_306/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.453, 0.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.249, 0.775]). The trajectory involves 176 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_306", + "trajectory_length": 176, + "key_frame_indices": [ + 0, + 66, + 175 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_306.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_630", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_630/frame_0079.jpg", + "maniskill/PullCubeTool/images/episode_630/frame_0148.jpg", + "maniskill/PullCubeTool/images/episode_630/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.367, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.348, 0.793]). The trajectory involves 188 precise waypoints with total movement distance of 1.033." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_630", + "trajectory_length": 188, + "key_frame_indices": [ + 0, + 69, + 187 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_630.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_687", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_687/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_687/frame_0187.jpg", + "maniskill/PullCubeTool/images/episode_687/frame_0205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.441, 0.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.372, 0.982]). The trajectory involves 206 precise waypoints with total movement distance of 0.545." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_687", + "trajectory_length": 206, + "key_frame_indices": [ + 0, + 187, + 205 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_687.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_402", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_402/frame_0073.jpg", + "maniskill/PullCubeTool/images/episode_402/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_402/frame_0263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.418, 0.857]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.361, 0.746]). The trajectory involves 191 precise waypoints with total movement distance of 1.054." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_402", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 59, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_402.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_750", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_750/frame_0067.jpg", + "maniskill/PullCubeTool/images/episode_750/frame_0123.jpg", + "maniskill/PullCubeTool/images/episode_750/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.458, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.339, 0.802]). The trajectory involves 167 precise waypoints with total movement distance of 0.999." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_750", + "trajectory_length": 167, + "key_frame_indices": [ + 0, + 56, + 166 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_750.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_325", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_325/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_325/frame_0153.jpg", + "maniskill/PullCubeTool/images/episode_325/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.329, 0.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.872]). The trajectory involves 193 precise waypoints with total movement distance of 0.975." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_325", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 77, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_325.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_531", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_531/frame_0078.jpg", + "maniskill/PullCubeTool/images/episode_531/frame_0151.jpg", + "maniskill/PullCubeTool/images/episode_531/frame_0264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.329, 0.804]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.361, 0.939]). The trajectory involves 187 precise waypoints with total movement distance of 0.937." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_531", + "trajectory_length": 187, + "key_frame_indices": [ + 0, + 73, + 186 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_531.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_869", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_869/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_869/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_869/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.448, 0.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.299, 0.861]). The trajectory involves 173 precise waypoints with total movement distance of 0.877." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_869", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 69, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_869.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_957", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_957/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_957/frame_0115.jpg", + "maniskill/PullCubeTool/images/episode_957/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.447, 0.765]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.350, 0.782]). The trajectory involves 184 precise waypoints with total movement distance of 0.892." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_957", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 64, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_957.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_256", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_256/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_256/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_256/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.375, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.309, 0.780]). The trajectory involves 178 precise waypoints with total movement distance of 0.757." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_256", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 70, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_256.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_858", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_858/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_858/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_858/frame_0266.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.393, 0.841]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.883]). The trajectory involves 197 precise waypoints with total movement distance of 0.906." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_858", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 67, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_858.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_169", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_169/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_169/frame_0122.jpg", + "maniskill/PullCubeTool/images/episode_169/frame_0249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.396, 0.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.315, 0.669]). The trajectory involves 197 precise waypoints with total movement distance of 0.906." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_169", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 69, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_169.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_626", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_626/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_626/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_626/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.427, 0.802]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.290, 0.861]). The trajectory involves 166 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_626", + "trajectory_length": 166, + "key_frame_indices": [ + 0, + 66, + 165 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_626.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_917", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_917/frame_0000.jpg", + "maniskill/PullCubeTool/images/episode_917/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_917/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.477, 0.795]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.331, 0.921]). The trajectory involves 213 precise waypoints with total movement distance of 0.803." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_917", + "trajectory_length": 213, + "key_frame_indices": [ + 0, + 116, + 212 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_917.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_517", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_517/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_517/frame_0151.jpg", + "maniskill/PullCubeTool/images/episode_517/frame_0268.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.324, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.902]). The trajectory involves 193 precise waypoints with total movement distance of 0.946." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_517", + "trajectory_length": 193, + "key_frame_indices": [ + 0, + 75, + 192 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_517.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_319", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_319/frame_0074.jpg", + "maniskill/PullCubeTool/images/episode_319/frame_0136.jpg", + "maniskill/PullCubeTool/images/episode_319/frame_0253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.411, 0.902]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.360, 0.830]). The trajectory involves 180 precise waypoints with total movement distance of 0.870." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_319", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 62, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_319.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_464", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_464/frame_0045.jpg", + "maniskill/PullCubeTool/images/episode_464/frame_0107.jpg", + "maniskill/PullCubeTool/images/episode_464/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.417, 0.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.261, 0.810]). The trajectory involves 162 precise waypoints with total movement distance of 0.658." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_464", + "trajectory_length": 162, + "key_frame_indices": [ + 0, + 62, + 161 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_464.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_312", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_312/frame_0056.jpg", + "maniskill/PullCubeTool/images/episode_312/frame_0126.jpg", + "maniskill/PullCubeTool/images/episode_312/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.452, 0.820]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.355, 0.747]). The trajectory involves 191 precise waypoints with total movement distance of 1.087." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_312", + "trajectory_length": 191, + "key_frame_indices": [ + 0, + 70, + 190 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_312.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_550", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_550/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_550/frame_0140.jpg", + "maniskill/PullCubeTool/images/episode_550/frame_0441.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.360, 0.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.877]). The trajectory involves 380 precise waypoints with total movement distance of 0.822." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_550", + "trajectory_length": 380, + "key_frame_indices": [ + 0, + 78, + 379 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_550.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_171", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_171/frame_0071.jpg", + "maniskill/PullCubeTool/images/episode_171/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_171/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.390, 0.840]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.401, 0.914]). The trajectory involves 180 precise waypoints with total movement distance of 0.864." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_171", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 66, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_171.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_956", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_956/frame_0053.jpg", + "maniskill/PullCubeTool/images/episode_956/frame_0120.jpg", + "maniskill/PullCubeTool/images/episode_956/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.477, 0.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.323, 0.810]). The trajectory involves 178 precise waypoints with total movement distance of 0.958." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_956", + "trajectory_length": 178, + "key_frame_indices": [ + 0, + 67, + 177 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_956.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_915", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_915/frame_0047.jpg", + "maniskill/PullCubeTool/images/episode_915/frame_0117.jpg", + "maniskill/PullCubeTool/images/episode_915/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.412, 0.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 0.688]). The trajectory involves 197 precise waypoints with total movement distance of 0.884." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_915", + "trajectory_length": 197, + "key_frame_indices": [ + 0, + 70, + 196 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_915.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_308", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_308/frame_0072.jpg", + "maniskill/PullCubeTool/images/episode_308/frame_0131.jpg", + "maniskill/PullCubeTool/images/episode_308/frame_0252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.422, 0.872]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.368, 0.786]). The trajectory involves 181 precise waypoints with total movement distance of 0.968." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_308", + "trajectory_length": 181, + "key_frame_indices": [ + 0, + 59, + 180 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_308.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_816", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_816/frame_0066.jpg", + "maniskill/PullCubeTool/images/episode_816/frame_0124.jpg", + "maniskill/PullCubeTool/images/episode_816/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.450, 0.817]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.303, 0.859]). The trajectory involves 160 precise waypoints with total movement distance of 0.923." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_816", + "trajectory_length": 160, + "key_frame_indices": [ + 0, + 58, + 159 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_816.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_75", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_75/frame_0079.jpg", + "maniskill/PullCubeTool/images/episode_75/frame_0149.jpg", + "maniskill/PullCubeTool/images/episode_75/frame_0262.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.379, 0.887]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.938]). The trajectory involves 184 precise waypoints with total movement distance of 0.843." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_75", + "trajectory_length": 184, + "key_frame_indices": [ + 0, + 70, + 183 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_75.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_274", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_274/frame_0057.jpg", + "maniskill/PullCubeTool/images/episode_274/frame_0125.jpg", + "maniskill/PullCubeTool/images/episode_274/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.415, 0.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.861]). The trajectory involves 185 precise waypoints with total movement distance of 0.733." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_274", + "trajectory_length": 185, + "key_frame_indices": [ + 0, + 68, + 184 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_274.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_610", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_610/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_610/frame_0132.jpg", + "maniskill/PullCubeTool/images/episode_610/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.432, 0.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.326, 0.690]). The trajectory involves 196 precise waypoints with total movement distance of 1.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_610", + "trajectory_length": 196, + "key_frame_indices": [ + 0, + 68, + 195 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_610.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_13", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_13/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_13/frame_0133.jpg", + "maniskill/PullCubeTool/images/episode_13/frame_0276.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.410, 0.775]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.422, 0.848]). The trajectory involves 219 precise waypoints with total movement distance of 0.862." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_13", + "trajectory_length": 219, + "key_frame_indices": [ + 0, + 75, + 218 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_13.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_538", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_538/frame_0062.jpg", + "maniskill/PullCubeTool/images/episode_538/frame_0128.jpg", + "maniskill/PullCubeTool/images/episode_538/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.445, 0.849]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.340, 0.836]). The trajectory involves 175 precise waypoints with total movement distance of 0.916." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_538", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 66, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_538.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_884", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_884/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_884/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_884/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.371, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.337, 0.939]). The trajectory involves 173 precise waypoints with total movement distance of 0.773." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_884", + "trajectory_length": 173, + "key_frame_indices": [ + 0, + 71, + 172 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_884.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_485", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_485/frame_0064.jpg", + "maniskill/PullCubeTool/images/episode_485/frame_0134.jpg", + "maniskill/PullCubeTool/images/episode_485/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.416, 0.835]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.257, 0.801]). The trajectory involves 177 precise waypoints with total movement distance of 1.031." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_485", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 70, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_485.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_501", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_501/frame_0048.jpg", + "maniskill/PullCubeTool/images/episode_501/frame_0116.jpg", + "maniskill/PullCubeTool/images/episode_501/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.401, 0.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.260, 0.750]). The trajectory involves 175 precise waypoints with total movement distance of 0.713." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_501", + "trajectory_length": 175, + "key_frame_indices": [ + 0, + 68, + 174 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_501.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_336", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_336/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_336/frame_0137.jpg", + "maniskill/PullCubeTool/images/episode_336/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.367, 0.809]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.357, 0.886]). The trajectory involves 177 precise waypoints with total movement distance of 0.889." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_336", + "trajectory_length": 177, + "key_frame_indices": [ + 0, + 67, + 176 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_336.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_160", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_160/frame_0058.jpg", + "maniskill/PullCubeTool/images/episode_160/frame_0129.jpg", + "maniskill/PullCubeTool/images/episode_160/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.367, 0.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.913]). The trajectory involves 180 precise waypoints with total movement distance of 0.641." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_160", + "trajectory_length": 180, + "key_frame_indices": [ + 0, + 71, + 179 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_160.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_406", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_406/frame_0051.jpg", + "maniskill/PullCubeTool/images/episode_406/frame_0119.jpg", + "maniskill/PullCubeTool/images/episode_406/frame_0248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.450, 0.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.839]). The trajectory involves 198 precise waypoints with total movement distance of 0.767." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_406", + "trajectory_length": 198, + "key_frame_indices": [ + 0, + 68, + 197 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_406.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_395", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_395/frame_0070.jpg", + "maniskill/PullCubeTool/images/episode_395/frame_0139.jpg", + "maniskill/PullCubeTool/images/episode_395/frame_0261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.391, 0.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.409, 0.876]). The trajectory involves 192 precise waypoints with total movement distance of 0.902." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_395", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 69, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_395.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_761", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_761/frame_0076.jpg", + "maniskill/PullCubeTool/images/episode_761/frame_0154.jpg", + "maniskill/PullCubeTool/images/episode_761/frame_0267.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.321, 0.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.308, 0.778]). The trajectory involves 192 precise waypoints with total movement distance of 1.106." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_761", + "trajectory_length": 192, + "key_frame_indices": [ + 0, + 78, + 191 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_761.json" + } + }, + { + "id": "maniskill_PullCubeTool_out_777", + "task": "Pull the cube with T-shape tool", + "selected_step": 1, + "image": [ + "maniskill/PullCubeTool/images/episode_777/frame_0055.jpg", + "maniskill/PullCubeTool/images/episode_777/frame_0127.jpg", + "maniskill/PullCubeTool/images/episode_777/frame_0255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pull the cube with T-shape tool?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pull the cube with T-shape tool, execute the following phases: 1) Initial approach phase (start at [0.383, 0.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.852]). The trajectory involves 201 precise waypoints with total movement distance of 0.644." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PullCubeTool", + "episode_id": "out_777", + "trajectory_length": 201, + "key_frame_indices": [ + 0, + 72, + 200 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PullCubeTool/label/out_777.json" + } + }, + { + "id": "maniskill_PlugCharger_out_449", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_449/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_449/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_449/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.524, 0.616]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.386, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_449", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 26, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_449.json" + } + }, + { + "id": "maniskill_PlugCharger_out_899", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_899/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_899/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_899/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.271, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.412, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_899", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 41, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_899.json" + } + }, + { + "id": "maniskill_PlugCharger_out_916", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_916/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_916/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_916/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.316, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.474, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_916", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_916.json" + } + }, + { + "id": "maniskill_PlugCharger_out_902", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_902/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_902/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_902/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.391, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_902", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 26, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_902.json" + } + }, + { + "id": "maniskill_PlugCharger_out_708", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_708/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_708/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_708/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.359, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_708", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_708.json" + } + }, + { + "id": "maniskill_PlugCharger_out_168", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_168/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_168/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_168/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.503, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.446, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_168", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 26, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_168.json" + } + }, + { + "id": "maniskill_PlugCharger_out_334", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_334/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_334/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_334/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.565, 0.587]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.385, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.367." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_334", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 25, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_334.json" + } + }, + { + "id": "maniskill_PlugCharger_out_904", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_904/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_904/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_904/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.413, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.415, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_904", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 28, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_904.json" + } + }, + { + "id": "maniskill_PlugCharger_out_356", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_356/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_356/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_356/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.300, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.381]). The trajectory involves 73 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_356", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_356.json" + } + }, + { + "id": "maniskill_PlugCharger_out_432", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_432/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_432/frame_0144.jpg", + "maniskill/PlugCharger/images/episode_432/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.524, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_432", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 27, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_432.json" + } + }, + { + "id": "maniskill_PlugCharger_out_875", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_875/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_875/frame_0208.jpg", + "maniskill/PlugCharger/images/episode_875/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.335, 0.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.381, 0.382]). The trajectory involves 120 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_875", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 109, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_875.json" + } + }, + { + "id": "maniskill_PlugCharger_out_362", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_362/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_362/frame_0140.jpg", + "maniskill/PlugCharger/images/episode_362/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.264, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.463, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_362", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 32, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_362.json" + } + }, + { + "id": "maniskill_PlugCharger_out_315", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_315/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_315/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_315/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.311, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.345, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_315", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 28, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_315.json" + } + }, + { + "id": "maniskill_PlugCharger_out_633", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_633/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_633/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_633/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.365, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.510, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_633", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 29, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_633.json" + } + }, + { + "id": "maniskill_PlugCharger_out_369", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_369/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_369/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_369/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.312, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.491, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_369", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_369.json" + } + }, + { + "id": "maniskill_PlugCharger_out_27", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_27/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_27/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_27/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.529, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_27", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 27, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_27.json" + } + }, + { + "id": "maniskill_PlugCharger_out_296", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_296/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_296/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_296/frame_0203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.379, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_296", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 25, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_296.json" + } + }, + { + "id": "maniskill_PlugCharger_out_873", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_873/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_873/frame_0178.jpg", + "maniskill/PlugCharger/images/episode_873/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.279, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.382]). The trajectory involves 125 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_873", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 66, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_873.json" + } + }, + { + "id": "maniskill_PlugCharger_out_235", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_235/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_235/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_235/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.313, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.502, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_235", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 36, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_235.json" + } + }, + { + "id": "maniskill_PlugCharger_out_249", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_249/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_249/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_249/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.408, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.447, 0.382]). The trajectory involves 68 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_249", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 19, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_249.json" + } + }, + { + "id": "maniskill_PlugCharger_out_598", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_598/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_598/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_598/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.269, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_598", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 34, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_598.json" + } + }, + { + "id": "maniskill_PlugCharger_out_23", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_23/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_23/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_23/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.235, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.492, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_23", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 16, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_23.json" + } + }, + { + "id": "maniskill_PlugCharger_out_307", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_307/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_307/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_307/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.312, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.444, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_307", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 30, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_307.json" + } + }, + { + "id": "maniskill_PlugCharger_out_16", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_16/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_16/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_16/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.232, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.423, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_16", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 30, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_16.json" + } + }, + { + "id": "maniskill_PlugCharger_out_967", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_967/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_967/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_967/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.380, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_967", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 27, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_967.json" + } + }, + { + "id": "maniskill_PlugCharger_out_15", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_15/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_15/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_15/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.396, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_15", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 26, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_15.json" + } + }, + { + "id": "maniskill_PlugCharger_out_822", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_822/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_822/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_822/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.421, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.467, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_822", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 25, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_822.json" + } + }, + { + "id": "maniskill_PlugCharger_out_318", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_318/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_318/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_318/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.361, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.401, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_318", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 29, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_318.json" + } + }, + { + "id": "maniskill_PlugCharger_out_543", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_543/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_543/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_543/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.386, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_543", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 28, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_543.json" + } + }, + { + "id": "maniskill_PlugCharger_out_924", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_924/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_924/frame_0162.jpg", + "maniskill/PlugCharger/images/episode_924/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.251, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_924", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 45, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_924.json" + } + }, + { + "id": "maniskill_PlugCharger_out_800", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_800/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_800/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_800/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.364, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_800", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 29, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_800.json" + } + }, + { + "id": "maniskill_PlugCharger_out_210", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_210/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_210/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_210/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.454, 0.566]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.410, 0.382]). The trajectory involves 59 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_210", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 13, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_210.json" + } + }, + { + "id": "maniskill_PlugCharger_out_194", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_194/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_194/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_194/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.391, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_194", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 24, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_194.json" + } + }, + { + "id": "maniskill_PlugCharger_out_859", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_859/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_859/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_859/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.275, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_859", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_859.json" + } + }, + { + "id": "maniskill_PlugCharger_out_507", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_507/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_507/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_507/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.427, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_507", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 31, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_507.json" + } + }, + { + "id": "maniskill_PlugCharger_out_771", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_771/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_771/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_771/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.291, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.495, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_771", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 29, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_771.json" + } + }, + { + "id": "maniskill_PlugCharger_out_85", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_85/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_85/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_85/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.386, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.478, 0.381]). The trajectory involves 71 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_85", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_85.json" + } + }, + { + "id": "maniskill_PlugCharger_out_295", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_295/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_295/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_295/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.477, 0.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.382]). The trajectory involves 121 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_295", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 26, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_295.json" + } + }, + { + "id": "maniskill_PlugCharger_out_163", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_163/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_163/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_163/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.267, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.410, 0.381]). The trajectory involves 63 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_163", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 14, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_163.json" + } + }, + { + "id": "maniskill_PlugCharger_out_392", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_392/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_392/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_392/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.424, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_392", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 28, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_392.json" + } + }, + { + "id": "maniskill_PlugCharger_out_671", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_671/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_671/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_671/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.267, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_671", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 28, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_671.json" + } + }, + { + "id": "maniskill_PlugCharger_out_407", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_407/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_407/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_407/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.276, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.448, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_407", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 34, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_407.json" + } + }, + { + "id": "maniskill_PlugCharger_out_558", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_558/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_558/frame_0149.jpg", + "maniskill/PlugCharger/images/episode_558/frame_0259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.488, 0.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.382]). The trajectory involves 138 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_558", + "trajectory_length": 138, + "key_frame_indices": [ + 0, + 27, + 137 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_558.json" + } + }, + { + "id": "maniskill_PlugCharger_out_631", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_631/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_631/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_631/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.402, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_631", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 28, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_631.json" + } + }, + { + "id": "maniskill_PlugCharger_out_243", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_243/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_243/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_243/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.495, 0.562]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_243", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 26, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_243.json" + } + }, + { + "id": "maniskill_PlugCharger_out_14", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_14/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_14/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_14/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.362, 0.563]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.370, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_14", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 23, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_14.json" + } + }, + { + "id": "maniskill_PlugCharger_out_685", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_685/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_685/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_685/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.279, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.444, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_685", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 25, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_685.json" + } + }, + { + "id": "maniskill_PlugCharger_out_878", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_878/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_878/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_878/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.432, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.518, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_878", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 27, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_878.json" + } + }, + { + "id": "maniskill_PlugCharger_out_463", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_463/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_463/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_463/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_463", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 32, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_463.json" + } + }, + { + "id": "maniskill_PlugCharger_out_568", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_568/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_568/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_568/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.321, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.428, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_568", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 29, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_568.json" + } + }, + { + "id": "maniskill_PlugCharger_out_198", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_198/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_198/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_198/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.369, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.432, 0.382]). The trajectory involves 70 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_198", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 21, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_198.json" + } + }, + { + "id": "maniskill_PlugCharger_out_770", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_770/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_770/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_770/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.280, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.425, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_770", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 28, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_770.json" + } + }, + { + "id": "maniskill_PlugCharger_out_513", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_513/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_513/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_513/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.220, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_513", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 24, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_513.json" + } + }, + { + "id": "maniskill_PlugCharger_out_177", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_177/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_177/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_177/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.431, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.389, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_177", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 28, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_177.json" + } + }, + { + "id": "maniskill_PlugCharger_out_650", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_650/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_650/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_650/frame_0203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.540, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_650", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 25, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_650.json" + } + }, + { + "id": "maniskill_PlugCharger_out_412", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_412/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_412/frame_0179.jpg", + "maniskill/PlugCharger/images/episode_412/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.281, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.382]). The trajectory involves 121 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_412", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 63, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_412.json" + } + }, + { + "id": "maniskill_PlugCharger_out_192", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_192/frame_0072.jpg", + "maniskill/PlugCharger/images/episode_192/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_192/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.502, 0.610]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.527, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.306." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_192", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 24, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_192.json" + } + }, + { + "id": "maniskill_PlugCharger_out_684", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_684/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_684/frame_0131.jpg", + "maniskill/PlugCharger/images/episode_684/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.313, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.477, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_684", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 31, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_684.json" + } + }, + { + "id": "maniskill_PlugCharger_out_358", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_358/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_358/frame_0149.jpg", + "maniskill/PlugCharger/images/episode_358/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_358", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 30, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_358.json" + } + }, + { + "id": "maniskill_PlugCharger_out_396", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_396/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_396/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_396/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.326, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_396", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_396.json" + } + }, + { + "id": "maniskill_PlugCharger_out_845", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_845/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_845/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_845/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.365, 0.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_845", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 30, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_845.json" + } + }, + { + "id": "maniskill_PlugCharger_out_105", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_105/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_105/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_105/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.313, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_105", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 22, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_105.json" + } + }, + { + "id": "maniskill_PlugCharger_out_40", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_40/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_40/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_40/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.273, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_40", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 30, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_40.json" + } + }, + { + "id": "maniskill_PlugCharger_out_331", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_331/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_331/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_331/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.359, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_331", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 28, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_331.json" + } + }, + { + "id": "maniskill_PlugCharger_out_712", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_712/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_712/frame_0153.jpg", + "maniskill/PlugCharger/images/episode_712/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.245, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.536, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.325." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_712", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 44, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_712.json" + } + }, + { + "id": "maniskill_PlugCharger_out_717", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_717/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_717/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_717/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.424, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.485, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_717", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_717.json" + } + }, + { + "id": "maniskill_PlugCharger_out_619", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_619/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_619/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_619/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.527, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.393, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_619", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 25, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_619.json" + } + }, + { + "id": "maniskill_PlugCharger_out_655", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_655/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_655/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_655/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.530, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_655", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 19, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_655.json" + } + }, + { + "id": "maniskill_PlugCharger_out_83", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_83/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_83/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_83/frame_0203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.545, 0.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_83", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 26, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_83.json" + } + }, + { + "id": "maniskill_PlugCharger_out_542", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_542/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_542/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_542/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.261, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.476, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_542", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 27, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_542.json" + } + }, + { + "id": "maniskill_PlugCharger_out_164", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_164/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_164/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_164/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.257, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.391, 0.382]). The trajectory involves 68 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_164", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 21, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_164.json" + } + }, + { + "id": "maniskill_PlugCharger_out_450", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_450/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_450/frame_0157.jpg", + "maniskill/PlugCharger/images/episode_450/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.263, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.330." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_450", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 48, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_450.json" + } + }, + { + "id": "maniskill_PlugCharger_out_663", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_663/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_663/frame_0144.jpg", + "maniskill/PlugCharger/images/episode_663/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.239, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.409, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_663", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 28, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_663.json" + } + }, + { + "id": "maniskill_PlugCharger_out_374", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_374/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_374/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_374/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.305, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.370, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_374", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_374.json" + } + }, + { + "id": "maniskill_PlugCharger_out_159", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_159/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_159/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_159/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.289, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_159", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 29, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_159.json" + } + }, + { + "id": "maniskill_PlugCharger_out_271", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_271/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_271/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_271/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.263, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.426, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_271", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 29, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_271.json" + } + }, + { + "id": "maniskill_PlugCharger_out_728", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_728/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_728/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_728/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.531, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.349." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_728", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 21, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_728.json" + } + }, + { + "id": "maniskill_PlugCharger_out_38", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_38/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_38/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_38/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.525, 0.599]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.418, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_38", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 25, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_38.json" + } + }, + { + "id": "maniskill_PlugCharger_out_316", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_316/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_316/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_316/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.276, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.426, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_316", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 34, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_316.json" + } + }, + { + "id": "maniskill_PlugCharger_out_64", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_64/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_64/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_64/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.303, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_64", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 29, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_64.json" + } + }, + { + "id": "maniskill_PlugCharger_out_206", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_206/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_206/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_206/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.368, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.378, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_206", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 29, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_206.json" + } + }, + { + "id": "maniskill_PlugCharger_out_30", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_30/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_30/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_30/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.286, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.379, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_30", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 28, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_30.json" + } + }, + { + "id": "maniskill_PlugCharger_out_273", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_273/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_273/frame_0138.jpg", + "maniskill/PlugCharger/images/episode_273/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.433, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.382]). The trajectory involves 118 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_273", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 28, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_273.json" + } + }, + { + "id": "maniskill_PlugCharger_out_881", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_881/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_881/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_881/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.333, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_881", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 29, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_881.json" + } + }, + { + "id": "maniskill_PlugCharger_out_784", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_784/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_784/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_784/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.313, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.381]). The trajectory involves 72 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_784", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_784.json" + } + }, + { + "id": "maniskill_PlugCharger_out_907", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_907/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_907/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_907/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.295, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.521, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_907", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 31, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_907.json" + } + }, + { + "id": "maniskill_PlugCharger_out_722", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_722/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_722/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_722/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.362, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_722", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 19, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_722.json" + } + }, + { + "id": "maniskill_PlugCharger_out_574", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_574/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_574/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_574/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.244, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_574", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 38, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_574.json" + } + }, + { + "id": "maniskill_PlugCharger_out_548", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_548/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_548/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_548/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.311, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_548", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 28, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_548.json" + } + }, + { + "id": "maniskill_PlugCharger_out_216", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_216/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_216/frame_0151.jpg", + "maniskill/PlugCharger/images/episode_216/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.319, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_216", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 47, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_216.json" + } + }, + { + "id": "maniskill_PlugCharger_out_798", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_798/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_798/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_798/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.491, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.410, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_798", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_798.json" + } + }, + { + "id": "maniskill_PlugCharger_out_158", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_158/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_158/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_158/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.264, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_158", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 28, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_158.json" + } + }, + { + "id": "maniskill_PlugCharger_out_661", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_661/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_661/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_661/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.236, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.401, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_661", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 28, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_661.json" + } + }, + { + "id": "maniskill_PlugCharger_out_736", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_736/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_736/frame_0131.jpg", + "maniskill/PlugCharger/images/episode_736/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.364, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.423, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_736", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 28, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_736.json" + } + }, + { + "id": "maniskill_PlugCharger_out_575", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_575/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_575/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_575/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.236, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.442, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_575", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 25, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_575.json" + } + }, + { + "id": "maniskill_PlugCharger_out_276", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_276/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_276/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_276/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.363, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.363, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_276", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_276.json" + } + }, + { + "id": "maniskill_PlugCharger_out_145", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_145/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_145/frame_0155.jpg", + "maniskill/PlugCharger/images/episode_145/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.306, 0.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.382]). The trajectory involves 116 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_145", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 52, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_145.json" + } + }, + { + "id": "maniskill_PlugCharger_out_297", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_297/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_297/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_297/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.368, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.389, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_297", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_297.json" + } + }, + { + "id": "maniskill_PlugCharger_out_193", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_193/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_193/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_193/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.380, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.506, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_193", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_193.json" + } + }, + { + "id": "maniskill_PlugCharger_out_521", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_521/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_521/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_521/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.330, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_521", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 28, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_521.json" + } + }, + { + "id": "maniskill_PlugCharger_out_545", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_545/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_545/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_545/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.255, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_545", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 28, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_545.json" + } + }, + { + "id": "maniskill_PlugCharger_out_84", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_84/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_84/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_84/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_84", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 25, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_84.json" + } + }, + { + "id": "maniskill_PlugCharger_out_892", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_892/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_892/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_892/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.301, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_892", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 21, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_892.json" + } + }, + { + "id": "maniskill_PlugCharger_out_39", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_39/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_39/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_39/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.448, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.523, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_39", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_39.json" + } + }, + { + "id": "maniskill_PlugCharger_out_471", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_471/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_471/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_471/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.462, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.382]). The trajectory involves 132 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_471", + "trajectory_length": 132, + "key_frame_indices": [ + 0, + 28, + 131 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_471.json" + } + }, + { + "id": "maniskill_PlugCharger_out_257", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_257/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_257/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_257/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.282, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.360, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_257", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 28, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_257.json" + } + }, + { + "id": "maniskill_PlugCharger_out_55", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_55/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_55/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_55/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.305, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.468, 0.381]). The trajectory involves 69 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_55", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 17, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_55.json" + } + }, + { + "id": "maniskill_PlugCharger_out_453", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_453/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_453/frame_0160.jpg", + "maniskill/PlugCharger/images/episode_453/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.294, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.432, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_453", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 61, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_453.json" + } + }, + { + "id": "maniskill_PlugCharger_out_180", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_180/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_180/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_180/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 68 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_180", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 21, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_180.json" + } + }, + { + "id": "maniskill_PlugCharger_out_680", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_680/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_680/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_680/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.240, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.501, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_680", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 26, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_680.json" + } + }, + { + "id": "maniskill_PlugCharger_out_176", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_176/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_176/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_176/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.364, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_176", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 28, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_176.json" + } + }, + { + "id": "maniskill_PlugCharger_out_945", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_945/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_945/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_945/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.373, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.507, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_945", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 29, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_945.json" + } + }, + { + "id": "maniskill_PlugCharger_out_314", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_314/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_314/frame_0141.jpg", + "maniskill/PlugCharger/images/episode_314/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.301, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.416, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_314", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 29, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_314.json" + } + }, + { + "id": "maniskill_PlugCharger_out_737", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_737/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_737/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_737/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.292, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.447, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_737", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_737.json" + } + }, + { + "id": "maniskill_PlugCharger_out_998", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_998/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_998/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_998/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.551, 0.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.458, 0.382]). The trajectory involves 129 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_998", + "trajectory_length": 129, + "key_frame_indices": [ + 0, + 27, + 128 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_998.json" + } + }, + { + "id": "maniskill_PlugCharger_out_0", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_0/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_0/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_0/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.263, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.386, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_0", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_0.json" + } + }, + { + "id": "maniskill_PlugCharger_out_329", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_329/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_329/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_329/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.506, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.523, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_329", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 25, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_329.json" + } + }, + { + "id": "maniskill_PlugCharger_out_417", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_417/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_417/frame_0140.jpg", + "maniskill/PlugCharger/images/episode_417/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.503, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.446, 0.382]). The trajectory involves 109 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_417", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 27, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_417.json" + } + }, + { + "id": "maniskill_PlugCharger_out_882", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_882/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_882/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_882/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.378, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.496, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_882", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_882.json" + } + }, + { + "id": "maniskill_PlugCharger_out_408", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_408/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_408/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_408/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.478, 0.591]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_408", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 18, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_408.json" + } + }, + { + "id": "maniskill_PlugCharger_out_389", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_389/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_389/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_389/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.316, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_389", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 29, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_389.json" + } + }, + { + "id": "maniskill_PlugCharger_out_201", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_201/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_201/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_201/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.331, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_201", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 28, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_201.json" + } + }, + { + "id": "maniskill_PlugCharger_out_826", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_826/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_826/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_826/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.290, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.431, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_826", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_826.json" + } + }, + { + "id": "maniskill_PlugCharger_out_877", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_877/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_877/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_877/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.330, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.537, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_877", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 34, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_877.json" + } + }, + { + "id": "maniskill_PlugCharger_out_817", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_817/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_817/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_817/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.427, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_817", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 27, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_817.json" + } + }, + { + "id": "maniskill_PlugCharger_out_185", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_185/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_185/frame_0146.jpg", + "maniskill/PlugCharger/images/episode_185/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.330, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 0.382]). The trajectory involves 117 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_185", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 38, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_185.json" + } + }, + { + "id": "maniskill_PlugCharger_out_879", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_879/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_879/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_879/frame_0187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.291, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.507, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.268." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_879", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 33, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_879.json" + } + }, + { + "id": "maniskill_PlugCharger_out_191", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_191/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_191/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_191/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.262, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_191", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_191.json" + } + }, + { + "id": "maniskill_PlugCharger_out_659", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_659/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_659/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_659/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.338, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_659", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 29, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_659.json" + } + }, + { + "id": "maniskill_PlugCharger_out_93", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_93/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_93/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_93/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.307, 0.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.377, 0.382]). The trajectory involves 114 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_93", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 28, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_93.json" + } + }, + { + "id": "maniskill_PlugCharger_out_220", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_220/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_220/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_220/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.264, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.380]). The trajectory involves 85 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_220", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 28, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_220.json" + } + }, + { + "id": "maniskill_PlugCharger_out_479", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_479/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_479/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_479/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.325, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.460, 0.382]). The trajectory involves 65 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_479", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 14, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_479.json" + } + }, + { + "id": "maniskill_PlugCharger_out_24", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_24/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_24/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_24/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.340, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_24", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_24.json" + } + }, + { + "id": "maniskill_PlugCharger_out_121", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_121/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_121/frame_0158.jpg", + "maniskill/PlugCharger/images/episode_121/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.264, 0.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_121", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 53, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_121.json" + } + }, + { + "id": "maniskill_PlugCharger_out_279", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_279/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_279/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_279/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.404, 0.552]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.541, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_279", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 27, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_279.json" + } + }, + { + "id": "maniskill_PlugCharger_out_323", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_323/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_323/frame_0138.jpg", + "maniskill/PlugCharger/images/episode_323/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.293, 0.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_323", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 30, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_323.json" + } + }, + { + "id": "maniskill_PlugCharger_out_31", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_31/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_31/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_31/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.239, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_31", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 40, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_31.json" + } + }, + { + "id": "maniskill_PlugCharger_out_672", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_672/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_672/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_672/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.243, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_672", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 29, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_672.json" + } + }, + { + "id": "maniskill_PlugCharger_out_113", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_113/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_113/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_113/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.439, 0.551]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_113", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 25, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_113.json" + } + }, + { + "id": "maniskill_PlugCharger_out_592", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_592/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_592/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_592/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.486, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.522, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_592", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 28, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_592.json" + } + }, + { + "id": "maniskill_PlugCharger_out_60", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_60/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_60/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_60/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.277, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.385, 0.381]). The trajectory involves 65 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_60", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 16, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_60.json" + } + }, + { + "id": "maniskill_PlugCharger_out_734", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_734/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_734/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_734/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.493, 0.568]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.508, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_734", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_734.json" + } + }, + { + "id": "maniskill_PlugCharger_out_706", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_706/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_706/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_706/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.303, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.475, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_706", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 28, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_706.json" + } + }, + { + "id": "maniskill_PlugCharger_out_228", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_228/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_228/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_228/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.207, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.441, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.298." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_228", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 28, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_228.json" + } + }, + { + "id": "maniskill_PlugCharger_out_653", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_653/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_653/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_653/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.420, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_653", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 28, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_653.json" + } + }, + { + "id": "maniskill_PlugCharger_out_20", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_20/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_20/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_20/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.371, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.361, 0.381]). The trajectory involves 61 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_20", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 14, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_20.json" + } + }, + { + "id": "maniskill_PlugCharger_out_154", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_154/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_154/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_154/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.355, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.382, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_154", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 21, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_154.json" + } + }, + { + "id": "maniskill_PlugCharger_out_342", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_342/frame_0070.jpg", + "maniskill/PlugCharger/images/episode_342/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_342/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.320, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 114 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_342", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 31, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_342.json" + } + }, + { + "id": "maniskill_PlugCharger_out_896", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_896/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_896/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_896/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.362, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 126 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_896", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 28, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_896.json" + } + }, + { + "id": "maniskill_PlugCharger_out_584", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_584/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_584/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_584/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.460, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 116 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_584", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 28, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_584.json" + } + }, + { + "id": "maniskill_PlugCharger_out_261", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_261/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_261/frame_0152.jpg", + "maniskill/PlugCharger/images/episode_261/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.257, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_261", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 47, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_261.json" + } + }, + { + "id": "maniskill_PlugCharger_out_368", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_368/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_368/frame_0176.jpg", + "maniskill/PlugCharger/images/episode_368/frame_0237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.382]). The trajectory involves 126 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_368", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 64, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_368.json" + } + }, + { + "id": "maniskill_PlugCharger_out_990", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_990/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_990/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_990/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.410, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.504, 0.382]). The trajectory involves 65 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_990", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 16, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_990.json" + } + }, + { + "id": "maniskill_PlugCharger_out_205", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_205/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_205/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_205/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.454, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.432, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_205", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_205.json" + } + }, + { + "id": "maniskill_PlugCharger_out_298", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_298/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_298/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_298/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.258, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 60 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_298", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 14, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_298.json" + } + }, + { + "id": "maniskill_PlugCharger_out_844", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_844/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_844/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_844/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.290, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_844", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 23, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_844.json" + } + }, + { + "id": "maniskill_PlugCharger_out_478", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_478/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_478/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_478/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.290, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.379, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_478", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_478.json" + } + }, + { + "id": "maniskill_PlugCharger_out_287", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_287/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_287/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_287/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.489, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.518, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_287", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_287.json" + } + }, + { + "id": "maniskill_PlugCharger_out_954", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_954/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_954/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_954/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.433, 0.572]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_954", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 22, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_954.json" + } + }, + { + "id": "maniskill_PlugCharger_out_425", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_425/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_425/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_425/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.453, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.522, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_425", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 28, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_425.json" + } + }, + { + "id": "maniskill_PlugCharger_out_448", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_448/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_448/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_448/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.328, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.504, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_448", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 28, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_448.json" + } + }, + { + "id": "maniskill_PlugCharger_out_418", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_418/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_418/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_418/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.228, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.404, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_418", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 29, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_418.json" + } + }, + { + "id": "maniskill_PlugCharger_out_707", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_707/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_707/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_707/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.494, 0.581]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.484, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_707", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 26, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_707.json" + } + }, + { + "id": "maniskill_PlugCharger_out_726", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_726/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_726/frame_0150.jpg", + "maniskill/PlugCharger/images/episode_726/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.278, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.446, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_726", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 43, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_726.json" + } + }, + { + "id": "maniskill_PlugCharger_out_530", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_530/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_530/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_530/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.556, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.432, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_530", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 20, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_530.json" + } + }, + { + "id": "maniskill_PlugCharger_out_755", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_755/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_755/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_755/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.463, 0.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.382]). The trajectory involves 114 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_755", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 27, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_755.json" + } + }, + { + "id": "maniskill_PlugCharger_out_488", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_488/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_488/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_488/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.299, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.410, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_488", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_488.json" + } + }, + { + "id": "maniskill_PlugCharger_out_627", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_627/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_627/frame_0162.jpg", + "maniskill/PlugCharger/images/episode_627/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.272, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.499, 0.382]). The trajectory involves 122 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_627", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 58, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_627.json" + } + }, + { + "id": "maniskill_PlugCharger_out_612", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_612/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_612/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_612/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.363, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_612", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 25, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_612.json" + } + }, + { + "id": "maniskill_PlugCharger_out_112", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_112/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_112/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_112/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.298, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.352, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_112", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_112.json" + } + }, + { + "id": "maniskill_PlugCharger_out_853", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_853/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_853/frame_0144.jpg", + "maniskill/PlugCharger/images/episode_853/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.258, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_853", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 29, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_853.json" + } + }, + { + "id": "maniskill_PlugCharger_out_795", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_795/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_795/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_795/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.511, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_795", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 27, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_795.json" + } + }, + { + "id": "maniskill_PlugCharger_out_482", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_482/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_482/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_482/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.226, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.381]). The trajectory involves 88 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_482", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 33, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_482.json" + } + }, + { + "id": "maniskill_PlugCharger_out_74", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_74/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_74/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_74/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.342, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.491, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_74", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_74.json" + } + }, + { + "id": "maniskill_PlugCharger_out_624", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_624/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_624/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_624/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.445, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.362, 0.382]). The trajectory involves 66 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_624", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 22, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_624.json" + } + }, + { + "id": "maniskill_PlugCharger_out_343", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_343/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_343/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_343/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.261, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.477, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_343", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_343.json" + } + }, + { + "id": "maniskill_PlugCharger_out_639", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_639/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_639/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_639/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.421, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.382]). The trajectory involves 68 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_639", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 20, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_639.json" + } + }, + { + "id": "maniskill_PlugCharger_out_430", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_430/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_430/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_430/frame_0204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.364, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.455, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_430", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 29, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_430.json" + } + }, + { + "id": "maniskill_PlugCharger_out_73", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_73/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_73/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_73/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.286, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.501, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_73", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 25, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_73.json" + } + }, + { + "id": "maniskill_PlugCharger_out_993", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_993/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_993/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_993/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.457, 0.554]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.404, 0.382]). The trajectory involves 68 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_993", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 19, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_993.json" + } + }, + { + "id": "maniskill_PlugCharger_out_480", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_480/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_480/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_480/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.304, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_480", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 21, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_480.json" + } + }, + { + "id": "maniskill_PlugCharger_out_141", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_141/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_141/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_141/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.499, 0.610]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.477, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_141", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 26, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_141.json" + } + }, + { + "id": "maniskill_PlugCharger_out_386", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_386/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_386/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_386/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.303, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 70 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_386", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 22, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_386.json" + } + }, + { + "id": "maniskill_PlugCharger_out_855", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_855/frame_0073.jpg", + "maniskill/PlugCharger/images/episode_855/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_855/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.474, 0.584]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_855", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 24, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_855.json" + } + }, + { + "id": "maniskill_PlugCharger_out_716", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_716/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_716/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_716/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.454, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.392, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_716", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 27, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_716.json" + } + }, + { + "id": "maniskill_PlugCharger_out_865", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_865/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_865/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_865/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.411, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.484, 0.381]). The trajectory involves 69 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_865", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 16, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_865.json" + } + }, + { + "id": "maniskill_PlugCharger_out_400", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_400/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_400/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_400/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.455, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.358, 0.382]). The trajectory involves 120 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_400", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 27, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_400.json" + } + }, + { + "id": "maniskill_PlugCharger_out_955", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_955/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_955/frame_0142.jpg", + "maniskill/PlugCharger/images/episode_955/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_955", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 40, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_955.json" + } + }, + { + "id": "maniskill_PlugCharger_out_214", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_214/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_214/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_214/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.342, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_214", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 27, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_214.json" + } + }, + { + "id": "maniskill_PlugCharger_out_729", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_729/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_729/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_729/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.521, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_729", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 27, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_729.json" + } + }, + { + "id": "maniskill_PlugCharger_out_790", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_790/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_790/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_790/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.331, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.439, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_790", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 28, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_790.json" + } + }, + { + "id": "maniskill_PlugCharger_out_461", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_461/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_461/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_461/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.444, 0.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_461", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 27, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_461.json" + } + }, + { + "id": "maniskill_PlugCharger_out_241", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_241/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_241/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_241/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.213, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.396, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_241", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 22, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_241.json" + } + }, + { + "id": "maniskill_PlugCharger_out_170", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_170/frame_0074.jpg", + "maniskill/PlugCharger/images/episode_170/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_170/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.507, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_170", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 27, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_170.json" + } + }, + { + "id": "maniskill_PlugCharger_out_338", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_338/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_338/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_338/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.415, 0.566]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.461, 0.381]). The trajectory involves 79 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_338", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_338.json" + } + }, + { + "id": "maniskill_PlugCharger_out_620", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_620/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_620/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_620/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.325, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.381]). The trajectory involves 75 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_620", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 22, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_620.json" + } + }, + { + "id": "maniskill_PlugCharger_out_561", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_561/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_561/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_561/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_561", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_561.json" + } + }, + { + "id": "maniskill_PlugCharger_out_97", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_97/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_97/frame_0138.jpg", + "maniskill/PlugCharger/images/episode_97/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.430, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.382]). The trajectory involves 126 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_97", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 27, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_97.json" + } + }, + { + "id": "maniskill_PlugCharger_out_172", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_172/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_172/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_172/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.400, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.441, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_172", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 27, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_172.json" + } + }, + { + "id": "maniskill_PlugCharger_out_375", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_375/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_375/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_375/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.309, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.487, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_375", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 30, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_375.json" + } + }, + { + "id": "maniskill_PlugCharger_out_909", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_909/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_909/frame_0145.jpg", + "maniskill/PlugCharger/images/episode_909/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.221, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.382]). The trajectory involves 128 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_909", + "trajectory_length": 128, + "key_frame_indices": [ + 0, + 32, + 127 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_909.json" + } + }, + { + "id": "maniskill_PlugCharger_out_747", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_747/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_747/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_747/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.345, 0.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.410, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_747", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 27, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_747.json" + } + }, + { + "id": "maniskill_PlugCharger_out_983", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_983/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_983/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_983/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.565, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_983", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_983.json" + } + }, + { + "id": "maniskill_PlugCharger_out_42", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_42/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_42/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_42/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.327, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.408, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_42", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 28, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_42.json" + } + }, + { + "id": "maniskill_PlugCharger_out_856", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_856/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_856/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_856/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.401, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.448, 0.380]). The trajectory involves 80 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_856", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 25, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_856.json" + } + }, + { + "id": "maniskill_PlugCharger_out_345", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_345/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_345/frame_0144.jpg", + "maniskill/PlugCharger/images/episode_345/frame_0242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.548, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.382]). The trajectory involves 127 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_345", + "trajectory_length": 127, + "key_frame_indices": [ + 0, + 28, + 126 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_345.json" + } + }, + { + "id": "maniskill_PlugCharger_out_959", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_959/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_959/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_959/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.261, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.416, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_959", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_959.json" + } + }, + { + "id": "maniskill_PlugCharger_out_226", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_226/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_226/frame_0146.jpg", + "maniskill/PlugCharger/images/episode_226/frame_0241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.520, 0.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.382]). The trajectory involves 122 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_226", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 26, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_226.json" + } + }, + { + "id": "maniskill_PlugCharger_out_293", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_293/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_293/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_293/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.426, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.505, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_293", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 26, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_293.json" + } + }, + { + "id": "maniskill_PlugCharger_out_863", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_863/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_863/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_863/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.406, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.497, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_863", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 27, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_863.json" + } + }, + { + "id": "maniskill_PlugCharger_out_46", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_46/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_46/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_46/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.506, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.497, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_46", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 27, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_46.json" + } + }, + { + "id": "maniskill_PlugCharger_out_10", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_10/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_10/frame_0212.jpg", + "maniskill/PlugCharger/images/episode_10/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.390, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_10", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 108, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_10.json" + } + }, + { + "id": "maniskill_PlugCharger_out_352", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_352/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_352/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_352/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.282, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_352", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 33, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_352.json" + } + }, + { + "id": "maniskill_PlugCharger_out_383", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_383/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_383/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_383/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.270, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.511, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_383", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 38, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_383.json" + } + }, + { + "id": "maniskill_PlugCharger_out_447", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_447/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_447/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_447/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.483, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.430, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_447", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 27, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_447.json" + } + }, + { + "id": "maniskill_PlugCharger_out_825", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_825/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_825/frame_0167.jpg", + "maniskill/PlugCharger/images/episode_825/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.284, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.382]). The trajectory involves 125 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_825", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 60, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_825.json" + } + }, + { + "id": "maniskill_PlugCharger_out_756", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_756/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_756/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_756/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.288, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.356, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_756", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 29, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_756.json" + } + }, + { + "id": "maniskill_PlugCharger_out_354", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_354/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_354/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_354/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.488, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_354", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 24, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_354.json" + } + }, + { + "id": "maniskill_PlugCharger_out_985", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_985/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_985/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_985/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.468, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.552, 0.381]). The trajectory involves 85 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_985", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 24, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_985.json" + } + }, + { + "id": "maniskill_PlugCharger_out_692", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_692/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_692/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_692/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.247, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.382]). The trajectory involves 68 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_692", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 16, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_692.json" + } + }, + { + "id": "maniskill_PlugCharger_out_493", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_493/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_493/frame_0138.jpg", + "maniskill/PlugCharger/images/episode_493/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.309, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.429, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_493", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 29, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_493.json" + } + }, + { + "id": "maniskill_PlugCharger_out_477", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_477/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_477/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_477/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.291, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_477", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 28, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_477.json" + } + }, + { + "id": "maniskill_PlugCharger_out_285", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_285/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_285/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_285/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.348, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.396, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_285", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 27, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_285.json" + } + }, + { + "id": "maniskill_PlugCharger_out_926", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_926/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_926/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_926/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.384, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.379, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_926", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 27, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_926.json" + } + }, + { + "id": "maniskill_PlugCharger_out_292", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_292/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_292/frame_0141.jpg", + "maniskill/PlugCharger/images/episode_292/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.271, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.472, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.259." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_292", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 37, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_292.json" + } + }, + { + "id": "maniskill_PlugCharger_out_573", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_573/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_573/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_573/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.244, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.421, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_573", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 22, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_573.json" + } + }, + { + "id": "maniskill_PlugCharger_out_122", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_122/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_122/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_122/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.457, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.507, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_122", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 16, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_122.json" + } + }, + { + "id": "maniskill_PlugCharger_out_427", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_427/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_427/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_427/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.454, 0.601]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_427", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 26, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_427.json" + } + }, + { + "id": "maniskill_PlugCharger_out_918", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_918/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_918/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_918/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.391, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.426, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_918", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_918.json" + } + }, + { + "id": "maniskill_PlugCharger_out_694", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_694/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_694/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_694/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.275, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 116 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_694", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 30, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_694.json" + } + }, + { + "id": "maniskill_PlugCharger_out_519", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_519/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_519/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_519/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.310, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.382]). The trajectory involves 70 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_519", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 22, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_519.json" + } + }, + { + "id": "maniskill_PlugCharger_out_429", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_429/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_429/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_429/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.393, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.534, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_429", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 27, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_429.json" + } + }, + { + "id": "maniskill_PlugCharger_out_81", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_81/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_81/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_81/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.457, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.431, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_81", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 20, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_81.json" + } + }, + { + "id": "maniskill_PlugCharger_out_753", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_753/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_753/frame_0190.jpg", + "maniskill/PlugCharger/images/episode_753/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.224, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.491, 0.382]). The trajectory involves 138 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_753", + "trajectory_length": 138, + "key_frame_indices": [ + 0, + 77, + 137 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_753.json" + } + }, + { + "id": "maniskill_PlugCharger_out_350", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_350/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_350/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_350/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.287, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.502, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_350", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 43, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_350.json" + } + }, + { + "id": "maniskill_PlugCharger_out_593", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_593/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_593/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_593/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.285, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_593", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 27, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_593.json" + } + }, + { + "id": "maniskill_PlugCharger_out_617", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_617/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_617/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_617/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.248, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.493, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_617", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 33, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_617.json" + } + }, + { + "id": "maniskill_PlugCharger_out_549", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_549/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_549/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_549/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.452, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.412, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_549", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 27, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_549.json" + } + }, + { + "id": "maniskill_PlugCharger_out_850", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_850/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_850/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_850/frame_0205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.396, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.485, 0.382]). The trajectory involves 111 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_850", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 29, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_850.json" + } + }, + { + "id": "maniskill_PlugCharger_out_6", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_6/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_6/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_6/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.313, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.436, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_6", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 29, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_6.json" + } + }, + { + "id": "maniskill_PlugCharger_out_646", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_646/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_646/frame_0156.jpg", + "maniskill/PlugCharger/images/episode_646/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.278, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.382]). The trajectory involves 117 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_646", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 56, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_646.json" + } + }, + { + "id": "maniskill_PlugCharger_out_34", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_34/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_34/frame_0131.jpg", + "maniskill/PlugCharger/images/episode_34/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.323, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.517, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_34", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 29, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_34.json" + } + }, + { + "id": "maniskill_PlugCharger_out_767", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_767/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_767/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_767/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.506, 0.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_767", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 27, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_767.json" + } + }, + { + "id": "maniskill_PlugCharger_out_906", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_906/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_906/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_906/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.306, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.466, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_906", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 24, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_906.json" + } + }, + { + "id": "maniskill_PlugCharger_out_12", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_12/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_12/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_12/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.293, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.447, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_12", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 38, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_12.json" + } + }, + { + "id": "maniskill_PlugCharger_out_599", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_599/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_599/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_599/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.346, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.372, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_599", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 27, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_599.json" + } + }, + { + "id": "maniskill_PlugCharger_out_754", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_754/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_754/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_754/frame_0203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.339, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.457, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_754", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 28, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_754.json" + } + }, + { + "id": "maniskill_PlugCharger_out_409", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_409/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_409/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_409/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.318, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.376, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_409", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 29, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_409.json" + } + }, + { + "id": "maniskill_PlugCharger_out_605", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_605/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_605/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_605/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.563, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_605", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 27, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_605.json" + } + }, + { + "id": "maniskill_PlugCharger_out_533", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_533/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_533/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_533/frame_0141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.361, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.414, 0.380]). The trajectory involves 64 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_533", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 20, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_533.json" + } + }, + { + "id": "maniskill_PlugCharger_out_239", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_239/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_239/frame_0150.jpg", + "maniskill/PlugCharger/images/episode_239/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.268, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.472, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_239", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 49, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_239.json" + } + }, + { + "id": "maniskill_PlugCharger_out_58", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_58/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_58/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_58/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.449, 0.595]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.434, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_58", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 27, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_58.json" + } + }, + { + "id": "maniskill_PlugCharger_out_470", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_470/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_470/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_470/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.360, 0.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_470", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 28, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_470.json" + } + }, + { + "id": "maniskill_PlugCharger_out_288", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_288/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_288/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_288/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.448, 0.551]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.400, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_288", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 27, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_288.json" + } + }, + { + "id": "maniskill_PlugCharger_out_2", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_2/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_2/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_2/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.452, 0.561]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 62 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_2", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 13, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_2.json" + } + }, + { + "id": "maniskill_PlugCharger_out_365", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_365/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_365/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_365/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.380, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.386, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_365", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_365.json" + } + }, + { + "id": "maniskill_PlugCharger_out_656", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_656/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_656/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_656/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.314, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.364, 0.381]). The trajectory involves 96 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_656", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 28, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_656.json" + } + }, + { + "id": "maniskill_PlugCharger_out_361", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_361/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_361/frame_0143.jpg", + "maniskill/PlugCharger/images/episode_361/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.488, 0.616]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.414, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_361", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 26, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_361.json" + } + }, + { + "id": "maniskill_PlugCharger_out_769", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_769/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_769/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_769/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.339, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_769", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 28, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_769.json" + } + }, + { + "id": "maniskill_PlugCharger_out_399", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_399/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_399/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_399/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.382, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.436, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_399", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_399.json" + } + }, + { + "id": "maniskill_PlugCharger_out_512", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_512/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_512/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_512/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.517, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.324." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_512", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_512.json" + } + }, + { + "id": "maniskill_PlugCharger_out_462", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_462/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_462/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_462/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.409, 0.563]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.470, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_462", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_462.json" + } + }, + { + "id": "maniskill_PlugCharger_out_95", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_95/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_95/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_95/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.486, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_95", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 32, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_95.json" + } + }, + { + "id": "maniskill_PlugCharger_out_553", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_553/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_553/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_553/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.388, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.375, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_553", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 27, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_553.json" + } + }, + { + "id": "maniskill_PlugCharger_out_327", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_327/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_327/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_327/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.330, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.366, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_327", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_327.json" + } + }, + { + "id": "maniskill_PlugCharger_out_109", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_109/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_109/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_109/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.544, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.452, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_109", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 26, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_109.json" + } + }, + { + "id": "maniskill_PlugCharger_out_652", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_652/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_652/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_652/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.296, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.367, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_652", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 23, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_652.json" + } + }, + { + "id": "maniskill_PlugCharger_out_988", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_988/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_988/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_988/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.462, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.416, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_988", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 19, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_988.json" + } + }, + { + "id": "maniskill_PlugCharger_out_911", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_911/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_911/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_911/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.312, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 88 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_911", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 28, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_911.json" + } + }, + { + "id": "maniskill_PlugCharger_out_320", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_320/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_320/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_320/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.476, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_320", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 27, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_320.json" + } + }, + { + "id": "maniskill_PlugCharger_out_218", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_218/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_218/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_218/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.540, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.510, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_218", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 19, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_218.json" + } + }, + { + "id": "maniskill_PlugCharger_out_188", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_188/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_188/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_188/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.307, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.420, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_188", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 28, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_188.json" + } + }, + { + "id": "maniskill_PlugCharger_out_173", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_173/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_173/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_173/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.235, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.457, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_173", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_173.json" + } + }, + { + "id": "maniskill_PlugCharger_out_187", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_187/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_187/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_187/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.280, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.481, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_187", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 27, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_187.json" + } + }, + { + "id": "maniskill_PlugCharger_out_144", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_144/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_144/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_144/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.286, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.398, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_144", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 29, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_144.json" + } + }, + { + "id": "maniskill_PlugCharger_out_891", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_891/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_891/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_891/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.323, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.503, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_891", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 28, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_891.json" + } + }, + { + "id": "maniskill_PlugCharger_out_977", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_977/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_977/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_977/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.308, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.455, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_977", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 27, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_977.json" + } + }, + { + "id": "maniskill_PlugCharger_out_890", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_890/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_890/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_890/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.259, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.485, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_890", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 25, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_890.json" + } + }, + { + "id": "maniskill_PlugCharger_out_421", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_421/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_421/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_421/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.241, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.416, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_421", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 27, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_421.json" + } + }, + { + "id": "maniskill_PlugCharger_out_63", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_63/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_63/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_63/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.467, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.429, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_63", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 26, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_63.json" + } + }, + { + "id": "maniskill_PlugCharger_out_979", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_979/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_979/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_979/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.501, 0.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_979", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 27, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_979.json" + } + }, + { + "id": "maniskill_PlugCharger_out_897", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_897/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_897/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_897/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.345, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.478, 0.380]). The trajectory involves 74 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_897", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_897.json" + } + }, + { + "id": "maniskill_PlugCharger_out_393", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_393/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_393/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_393/frame_0204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.305, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_393", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 29, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_393.json" + } + }, + { + "id": "maniskill_PlugCharger_out_774", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_774/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_774/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_774/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.479, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.268." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_774", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 26, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_774.json" + } + }, + { + "id": "maniskill_PlugCharger_out_851", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_851/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_851/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_851/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.279, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_851", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 30, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_851.json" + } + }, + { + "id": "maniskill_PlugCharger_out_554", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_554/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_554/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_554/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.267, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.381]). The trajectory involves 89 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_554", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 38, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_554.json" + } + }, + { + "id": "maniskill_PlugCharger_out_378", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_378/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_378/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_378/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.368, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.420, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_378", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 27, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_378.json" + } + }, + { + "id": "maniskill_PlugCharger_out_80", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_80/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_80/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_80/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.375, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_80", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 27, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_80.json" + } + }, + { + "id": "maniskill_PlugCharger_out_126", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_126/frame_0071.jpg", + "maniskill/PlugCharger/images/episode_126/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_126/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.265, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_126", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 31, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_126.json" + } + }, + { + "id": "maniskill_PlugCharger_out_552", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_552/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_552/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_552/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.343, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_552", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_552.json" + } + }, + { + "id": "maniskill_PlugCharger_out_466", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_466/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_466/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_466/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.411, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.420, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_466", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_466.json" + } + }, + { + "id": "maniskill_PlugCharger_out_789", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_789/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_789/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_789/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.255, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_789", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 26, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_789.json" + } + }, + { + "id": "maniskill_PlugCharger_out_779", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_779/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_779/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_779/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.238, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.452, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.268." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_779", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 37, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_779.json" + } + }, + { + "id": "maniskill_PlugCharger_out_209", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_209/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_209/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_209/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.287, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.382, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_209", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 23, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_209.json" + } + }, + { + "id": "maniskill_PlugCharger_out_140", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_140/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_140/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_140/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.274, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_140", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 28, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_140.json" + } + }, + { + "id": "maniskill_PlugCharger_out_920", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_920/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_920/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_920/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.306, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.398, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_920", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 28, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_920.json" + } + }, + { + "id": "maniskill_PlugCharger_out_942", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_942/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_942/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_942/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.323, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_942", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 29, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_942.json" + } + }, + { + "id": "maniskill_PlugCharger_out_341", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_341/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_341/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_341/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.345, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.462, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_341", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 23, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_341.json" + } + }, + { + "id": "maniskill_PlugCharger_out_219", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_219/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_219/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_219/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.344, 0.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_219", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 29, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_219.json" + } + }, + { + "id": "maniskill_PlugCharger_out_832", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_832/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_832/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_832/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.459, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_832", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 28, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_832.json" + } + }, + { + "id": "maniskill_PlugCharger_out_340", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_340/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_340/frame_0141.jpg", + "maniskill/PlugCharger/images/episode_340/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.500, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.482, 0.382]). The trajectory involves 127 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_340", + "trajectory_length": 127, + "key_frame_indices": [ + 0, + 27, + 126 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_340.json" + } + }, + { + "id": "maniskill_PlugCharger_out_94", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_94/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_94/frame_0149.jpg", + "maniskill/PlugCharger/images/episode_94/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.231, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_94", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 30, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_94.json" + } + }, + { + "id": "maniskill_PlugCharger_out_45", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_45/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_45/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_45/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.403, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_45", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 27, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_45.json" + } + }, + { + "id": "maniskill_PlugCharger_out_743", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_743/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_743/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_743/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.207, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.347, 0.381]). The trajectory involves 74 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_743", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_743.json" + } + }, + { + "id": "maniskill_PlugCharger_out_397", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_397/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_397/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_397/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.377, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.445, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_397", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 26, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_397.json" + } + }, + { + "id": "maniskill_PlugCharger_out_893", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_893/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_893/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_893/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.362, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.425, 0.381]). The trajectory involves 80 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_893", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 23, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_893.json" + } + }, + { + "id": "maniskill_PlugCharger_out_411", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_411/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_411/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_411/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.341, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.382]). The trajectory involves 70 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_411", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 22, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_411.json" + } + }, + { + "id": "maniskill_PlugCharger_out_246", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_246/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_246/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_246/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.273, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.413, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_246", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_246.json" + } + }, + { + "id": "maniskill_PlugCharger_out_597", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_597/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_597/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_597/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.293, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.390, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_597", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_597.json" + } + }, + { + "id": "maniskill_PlugCharger_out_709", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_709/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_709/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_709/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.249, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_709", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 30, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_709.json" + } + }, + { + "id": "maniskill_PlugCharger_out_629", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_629/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_629/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_629/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.399, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_629", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 27, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_629.json" + } + }, + { + "id": "maniskill_PlugCharger_out_931", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_931/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_931/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_931/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.572, 0.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.382]). The trajectory involves 120 precise waypoints with total movement distance of 0.374." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_931", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 28, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_931.json" + } + }, + { + "id": "maniskill_PlugCharger_out_559", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_559/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_559/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_559/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.296, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.375, 0.381]). The trajectory involves 71 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_559", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 21, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_559.json" + } + }, + { + "id": "maniskill_PlugCharger_out_741", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_741/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_741/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_741/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.272, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.489, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_741", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 28, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_741.json" + } + }, + { + "id": "maniskill_PlugCharger_out_516", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_516/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_516/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_516/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.368, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.450, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_516", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_516.json" + } + }, + { + "id": "maniskill_PlugCharger_out_29", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_29/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_29/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_29/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.355, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.530, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_29", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 29, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_29.json" + } + }, + { + "id": "maniskill_PlugCharger_out_506", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_506/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_506/frame_0131.jpg", + "maniskill/PlugCharger/images/episode_506/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.331, 0.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_506", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 30, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_506.json" + } + }, + { + "id": "maniskill_PlugCharger_out_452", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_452/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_452/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_452/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.287, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_452", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 28, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_452.json" + } + }, + { + "id": "maniskill_PlugCharger_out_594", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_594/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_594/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_594/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.234, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.447, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_594", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 24, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_594.json" + } + }, + { + "id": "maniskill_PlugCharger_out_665", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_665/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_665/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_665/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.306, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_665", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 25, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_665.json" + } + }, + { + "id": "maniskill_PlugCharger_out_514", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_514/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_514/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_514/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.366, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_514", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 26, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_514.json" + } + }, + { + "id": "maniskill_PlugCharger_out_11", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_11/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_11/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_11/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.262, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_11", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 29, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_11.json" + } + }, + { + "id": "maniskill_PlugCharger_out_951", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_951/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_951/frame_0143.jpg", + "maniskill/PlugCharger/images/episode_951/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.458, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_951", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 29, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_951.json" + } + }, + { + "id": "maniskill_PlugCharger_out_564", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_564/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_564/frame_0159.jpg", + "maniskill/PlugCharger/images/episode_564/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.219, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.560, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.371." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_564", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 45, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_564.json" + } + }, + { + "id": "maniskill_PlugCharger_out_821", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_821/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_821/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_821/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.447, 0.566]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.490, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_821", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 27, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_821.json" + } + }, + { + "id": "maniskill_PlugCharger_out_829", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_829/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_829/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_829/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.326, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.467, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_829", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 22, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_829.json" + } + }, + { + "id": "maniskill_PlugCharger_out_225", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_225/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_225/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_225/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.248, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.384, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_225", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 24, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_225.json" + } + }, + { + "id": "maniskill_PlugCharger_out_344", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_344/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_344/frame_0138.jpg", + "maniskill/PlugCharger/images/episode_344/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.472, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.434, 0.382]). The trajectory involves 109 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_344", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 27, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_344.json" + } + }, + { + "id": "maniskill_PlugCharger_out_834", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_834/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_834/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_834/frame_0203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.464, 0.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_834", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 27, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_834.json" + } + }, + { + "id": "maniskill_PlugCharger_out_581", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_581/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_581/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_581/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.323, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.527, 0.381]). The trajectory involves 75 precise waypoints with total movement distance of 0.259." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_581", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_581.json" + } + }, + { + "id": "maniskill_PlugCharger_out_499", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_499/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_499/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_499/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.485, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.371, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_499", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 24, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_499.json" + } + }, + { + "id": "maniskill_PlugCharger_out_379", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_379/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_379/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_379/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.492, 0.582]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.405, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_379", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 22, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_379.json" + } + }, + { + "id": "maniskill_PlugCharger_out_780", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_780/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_780/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_780/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.280, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_780", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 31, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_780.json" + } + }, + { + "id": "maniskill_PlugCharger_out_846", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_846/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_846/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_846/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.366, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.447, 0.381]). The trajectory involves 76 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_846", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 24, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_846.json" + } + }, + { + "id": "maniskill_PlugCharger_out_835", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_835/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_835/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_835/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.508, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_835", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_835.json" + } + }, + { + "id": "maniskill_PlugCharger_out_294", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_294/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_294/frame_0178.jpg", + "maniskill/PlugCharger/images/episode_294/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.273, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 131 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_294", + "trajectory_length": 131, + "key_frame_indices": [ + 0, + 70, + 130 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_294.json" + } + }, + { + "id": "maniskill_PlugCharger_out_138", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_138/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_138/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_138/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.439, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.436, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_138", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 20, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_138.json" + } + }, + { + "id": "maniskill_PlugCharger_out_223", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_223/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_223/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_223/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.408, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.511, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_223", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 28, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_223.json" + } + }, + { + "id": "maniskill_PlugCharger_out_62", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_62/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_62/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_62/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.314, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.393, 0.381]). The trajectory involves 67 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_62", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 20, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_62.json" + } + }, + { + "id": "maniskill_PlugCharger_out_91", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_91/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_91/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_91/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.295, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.362, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_91", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 25, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_91.json" + } + }, + { + "id": "maniskill_PlugCharger_out_667", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_667/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_667/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_667/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.262, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.411, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_667", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 21, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_667.json" + } + }, + { + "id": "maniskill_PlugCharger_out_715", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_715/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_715/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_715/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.310, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.374, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_715", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 29, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_715.json" + } + }, + { + "id": "maniskill_PlugCharger_out_518", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_518/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_518/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_518/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.311, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.479, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_518", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 25, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_518.json" + } + }, + { + "id": "maniskill_PlugCharger_out_451", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_451/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_451/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_451/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.389, 0.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_451", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 30, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_451.json" + } + }, + { + "id": "maniskill_PlugCharger_out_775", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_775/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_775/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_775/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.301, 0.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_775", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 29, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_775.json" + } + }, + { + "id": "maniskill_PlugCharger_out_454", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_454/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_454/frame_0142.jpg", + "maniskill/PlugCharger/images/episode_454/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.302, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_454", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 31, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_454.json" + } + }, + { + "id": "maniskill_PlugCharger_out_166", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_166/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_166/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_166/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.398, 0.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.382]). The trajectory involves 117 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_166", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 27, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_166.json" + } + }, + { + "id": "maniskill_PlugCharger_out_428", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_428/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_428/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_428/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.367, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.520, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_428", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 29, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_428.json" + } + }, + { + "id": "maniskill_PlugCharger_out_124", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_124/frame_0055.jpg", + "maniskill/PlugCharger/images/episode_124/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_124/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.465, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.382]). The trajectory involves 88 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_124", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 28, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_124.json" + } + }, + { + "id": "maniskill_PlugCharger_out_595", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_595/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_595/frame_0141.jpg", + "maniskill/PlugCharger/images/episode_595/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.229, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.348, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_595", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 29, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_595.json" + } + }, + { + "id": "maniskill_PlugCharger_out_41", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_41/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_41/frame_0152.jpg", + "maniskill/PlugCharger/images/episode_41/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_41", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 38, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_41.json" + } + }, + { + "id": "maniskill_PlugCharger_out_622", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_622/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_622/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_622/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.363, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.443, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_622", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 28, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_622.json" + } + }, + { + "id": "maniskill_PlugCharger_out_615", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_615/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_615/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_615/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.351, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_615", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 25, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_615.json" + } + }, + { + "id": "maniskill_PlugCharger_out_317", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_317/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_317/frame_0156.jpg", + "maniskill/PlugCharger/images/episode_317/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.263, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.516, 0.382]). The trajectory involves 111 precise waypoints with total movement distance of 0.303." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_317", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 54, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_317.json" + } + }, + { + "id": "maniskill_PlugCharger_out_940", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_940/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_940/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_940/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.472, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.544, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_940", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 27, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_940.json" + } + }, + { + "id": "maniskill_PlugCharger_out_982", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_982/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_982/frame_0168.jpg", + "maniskill/PlugCharger/images/episode_982/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.265, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 117 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_982", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 59, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_982.json" + } + }, + { + "id": "maniskill_PlugCharger_out_153", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_153/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_153/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_153/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.505, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.353, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.312." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_153", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 20, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_153.json" + } + }, + { + "id": "maniskill_PlugCharger_out_217", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_217/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_217/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_217/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.577, 0.593]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.494, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.323." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_217", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 19, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_217.json" + } + }, + { + "id": "maniskill_PlugCharger_out_18", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_18/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_18/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_18/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.428, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_18", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_18.json" + } + }, + { + "id": "maniskill_PlugCharger_out_614", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_614/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_614/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_614/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.315, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.396, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_614", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 27, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_614.json" + } + }, + { + "id": "maniskill_PlugCharger_out_161", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_161/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_161/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_161/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.433, 0.584]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.504, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_161", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 26, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_161.json" + } + }, + { + "id": "maniskill_PlugCharger_out_202", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_202/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_202/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_202/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.314, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.371, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_202", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_202.json" + } + }, + { + "id": "maniskill_PlugCharger_out_234", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_234/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_234/frame_0151.jpg", + "maniskill/PlugCharger/images/episode_234/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.312, 0.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.382]). The trajectory involves 116 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_234", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 40, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_234.json" + } + }, + { + "id": "maniskill_PlugCharger_out_582", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_582/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_582/frame_0161.jpg", + "maniskill/PlugCharger/images/episode_582/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.291, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.382]). The trajectory involves 121 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_582", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 63, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_582.json" + } + }, + { + "id": "maniskill_PlugCharger_out_380", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_380/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_380/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_380/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.292, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.491, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_380", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 22, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_380.json" + } + }, + { + "id": "maniskill_PlugCharger_out_888", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_888/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_888/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_888/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.238, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_888", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 30, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_888.json" + } + }, + { + "id": "maniskill_PlugCharger_out_90", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_90/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_90/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_90/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.304, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.474, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_90", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 29, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_90.json" + } + }, + { + "id": "maniskill_PlugCharger_out_613", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_613/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_613/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_613/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.312, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_613", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 47, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_613.json" + } + }, + { + "id": "maniskill_PlugCharger_out_962", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_962/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_962/frame_0160.jpg", + "maniskill/PlugCharger/images/episode_962/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.302, 0.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 117 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_962", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 59, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_962.json" + } + }, + { + "id": "maniskill_PlugCharger_out_740", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_740/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_740/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_740/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.264, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.453, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_740", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 36, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_740.json" + } + }, + { + "id": "maniskill_PlugCharger_out_366", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_366/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_366/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_366/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.519, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.381, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_366", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 29, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_366.json" + } + }, + { + "id": "maniskill_PlugCharger_out_701", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_701/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_701/frame_0141.jpg", + "maniskill/PlugCharger/images/episode_701/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.264, 0.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_701", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 45, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_701.json" + } + }, + { + "id": "maniskill_PlugCharger_out_476", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_476/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_476/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_476/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.294, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.425, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_476", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_476.json" + } + }, + { + "id": "maniskill_PlugCharger_out_99", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_99/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_99/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_99/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.548, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.430, 0.381]). The trajectory involves 71 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_99", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_99.json" + } + }, + { + "id": "maniskill_PlugCharger_out_229", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_229/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_229/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_229/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.441, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.496, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_229", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 27, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_229.json" + } + }, + { + "id": "maniskill_PlugCharger_out_843", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_843/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_843/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_843/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.558, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.382]). The trajectory involves 124 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_843", + "trajectory_length": 124, + "key_frame_indices": [ + 0, + 27, + 123 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_843.json" + } + }, + { + "id": "maniskill_PlugCharger_out_645", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_645/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_645/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_645/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.276, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_645", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_645.json" + } + }, + { + "id": "maniskill_PlugCharger_out_101", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_101/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_101/frame_0141.jpg", + "maniskill/PlugCharger/images/episode_101/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.479, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 118 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_101", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 27, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_101.json" + } + }, + { + "id": "maniskill_PlugCharger_out_416", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_416/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_416/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_416/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.457, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.425, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_416", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 27, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_416.json" + } + }, + { + "id": "maniskill_PlugCharger_out_404", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_404/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_404/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_404/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.381]). The trajectory involves 74 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_404", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_404.json" + } + }, + { + "id": "maniskill_PlugCharger_out_912", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_912/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_912/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_912/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.457, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.503, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_912", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 28, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_912.json" + } + }, + { + "id": "maniskill_PlugCharger_out_586", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_586/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_586/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_586/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.377, 0.554]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.484, 0.382]). The trajectory involves 88 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_586", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 27, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_586.json" + } + }, + { + "id": "maniskill_PlugCharger_out_372", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_372/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_372/frame_0215.jpg", + "maniskill/PlugCharger/images/episode_372/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.328, 0.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.382]). The trajectory involves 124 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_372", + "trajectory_length": 124, + "key_frame_indices": [ + 0, + 114, + 123 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_372.json" + } + }, + { + "id": "maniskill_PlugCharger_out_583", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_583/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_583/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_583/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.290, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.390, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_583", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_583.json" + } + }, + { + "id": "maniskill_PlugCharger_out_975", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_975/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_975/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_975/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.379, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_975", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 24, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_975.json" + } + }, + { + "id": "maniskill_PlugCharger_out_484", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_484/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_484/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_484/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.262, 0.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_484", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 31, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_484.json" + } + }, + { + "id": "maniskill_PlugCharger_out_596", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_596/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_596/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_596/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.512, 0.582]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.369, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_596", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 27, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_596.json" + } + }, + { + "id": "maniskill_PlugCharger_out_762", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_762/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_762/frame_0188.jpg", + "maniskill/PlugCharger/images/episode_762/frame_0250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.214, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.382]). The trajectory involves 131 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_762", + "trajectory_length": 131, + "key_frame_indices": [ + 0, + 68, + 130 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_762.json" + } + }, + { + "id": "maniskill_PlugCharger_out_54", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_54/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_54/frame_0140.jpg", + "maniskill/PlugCharger/images/episode_54/frame_0204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.357, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.497, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_54", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_54.json" + } + }, + { + "id": "maniskill_PlugCharger_out_248", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_248/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_248/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_248/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.260, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.440, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_248", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 28, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_248.json" + } + }, + { + "id": "maniskill_PlugCharger_out_132", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_132/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_132/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_132/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.323, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.467, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_132", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 28, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_132.json" + } + }, + { + "id": "maniskill_PlugCharger_out_616", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_616/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_616/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_616/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.342, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.501, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_616", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 26, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_616.json" + } + }, + { + "id": "maniskill_PlugCharger_out_309", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_309/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_309/frame_0165.jpg", + "maniskill/PlugCharger/images/episode_309/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.524, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_309", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 55, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_309.json" + } + }, + { + "id": "maniskill_PlugCharger_out_823", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_823/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_823/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_823/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.400, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.440, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_823", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 27, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_823.json" + } + }, + { + "id": "maniskill_PlugCharger_out_460", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_460/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_460/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_460/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.308, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.353, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_460", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 25, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_460.json" + } + }, + { + "id": "maniskill_PlugCharger_out_424", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_424/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_424/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_424/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.407, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.412, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_424", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 20, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_424.json" + } + }, + { + "id": "maniskill_PlugCharger_out_634", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_634/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_634/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_634/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.276, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.384, 0.381]). The trajectory involves 71 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_634", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_634.json" + } + }, + { + "id": "maniskill_PlugCharger_out_563", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_563/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_563/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_563/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.450, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_563", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 24, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_563.json" + } + }, + { + "id": "maniskill_PlugCharger_out_19", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_19/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_19/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_19/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.311, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_19", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 29, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_19.json" + } + }, + { + "id": "maniskill_PlugCharger_out_405", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_405/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_405/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_405/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.286, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.364, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_405", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 16, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_405.json" + } + }, + { + "id": "maniskill_PlugCharger_out_487", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_487/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_487/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_487/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.232, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_487", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 25, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_487.json" + } + }, + { + "id": "maniskill_PlugCharger_out_107", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_107/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_107/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_107/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.495, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.378, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.312." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_107", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 26, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_107.json" + } + }, + { + "id": "maniskill_PlugCharger_out_905", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_905/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_905/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_905/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.493, 0.566]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_905", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 26, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_905.json" + } + }, + { + "id": "maniskill_PlugCharger_out_933", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_933/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_933/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_933/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.296, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_933", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 28, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_933.json" + } + }, + { + "id": "maniskill_PlugCharger_out_930", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_930/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_930/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_930/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.436, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.496, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_930", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_930.json" + } + }, + { + "id": "maniskill_PlugCharger_out_781", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_781/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_781/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_781/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.324, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_781", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_781.json" + } + }, + { + "id": "maniskill_PlugCharger_out_79", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_79/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_79/frame_0141.jpg", + "maniskill/PlugCharger/images/episode_79/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.509, 0.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.454, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_79", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 26, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_79.json" + } + }, + { + "id": "maniskill_PlugCharger_out_117", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_117/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_117/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_117/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.227, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_117", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 37, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_117.json" + } + }, + { + "id": "maniskill_PlugCharger_out_114", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_114/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_114/frame_0131.jpg", + "maniskill/PlugCharger/images/episode_114/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.456, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.461, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_114", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 27, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_114.json" + } + }, + { + "id": "maniskill_PlugCharger_out_523", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_523/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_523/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_523/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.419, 0.587]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.440, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_523", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 27, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_523.json" + } + }, + { + "id": "maniskill_PlugCharger_out_502", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_502/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_502/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_502/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.280, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.370, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_502", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 27, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_502.json" + } + }, + { + "id": "maniskill_PlugCharger_out_579", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_579/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_579/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_579/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.473, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.546, 0.380]). The trajectory involves 73 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_579", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 24, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_579.json" + } + }, + { + "id": "maniskill_PlugCharger_out_162", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_162/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_162/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_162/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.396, 0.548]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_162", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 27, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_162.json" + } + }, + { + "id": "maniskill_PlugCharger_out_139", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_139/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_139/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_139/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.275, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.495, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_139", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 32, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_139.json" + } + }, + { + "id": "maniskill_PlugCharger_out_207", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_207/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_207/frame_0167.jpg", + "maniskill/PlugCharger/images/episode_207/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.268, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 0.382]). The trajectory involves 118 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_207", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 53, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_207.json" + } + }, + { + "id": "maniskill_PlugCharger_out_364", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_364/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_364/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_364/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.469, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.407, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_364", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 26, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_364.json" + } + }, + { + "id": "maniskill_PlugCharger_out_474", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_474/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_474/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_474/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.519, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.442, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_474", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 20, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_474.json" + } + }, + { + "id": "maniskill_PlugCharger_out_186", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_186/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_186/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_186/frame_0203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.432, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.416, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_186", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 27, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_186.json" + } + }, + { + "id": "maniskill_PlugCharger_out_718", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_718/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_718/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_718/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.314, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_718", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_718.json" + } + }, + { + "id": "maniskill_PlugCharger_out_772", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_772/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_772/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_772/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.418, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.499, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_772", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 30, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_772.json" + } + }, + { + "id": "maniskill_PlugCharger_out_436", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_436/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_436/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_436/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.396, 0.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_436", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 28, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_436.json" + } + }, + { + "id": "maniskill_PlugCharger_out_557", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_557/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_557/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_557/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.260, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.364, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_557", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 28, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_557.json" + } + }, + { + "id": "maniskill_PlugCharger_out_848", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_848/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_848/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_848/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.441, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_848", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 27, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_848.json" + } + }, + { + "id": "maniskill_PlugCharger_out_142", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_142/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_142/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_142/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.234, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_142", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 22, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_142.json" + } + }, + { + "id": "maniskill_PlugCharger_out_146", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_146/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_146/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_146/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.336, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.390, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_146", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_146.json" + } + }, + { + "id": "maniskill_PlugCharger_out_738", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_738/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_738/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_738/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.319, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_738", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 29, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_738.json" + } + }, + { + "id": "maniskill_PlugCharger_out_965", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_965/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_965/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_965/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.356, 0.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_965", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 28, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_965.json" + } + }, + { + "id": "maniskill_PlugCharger_out_827", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_827/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_827/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_827/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.357, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_827", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 28, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_827.json" + } + }, + { + "id": "maniskill_PlugCharger_out_695", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_695/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_695/frame_0163.jpg", + "maniskill/PlugCharger/images/episode_695/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.307, 0.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.382]). The trajectory involves 117 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_695", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 60, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_695.json" + } + }, + { + "id": "maniskill_PlugCharger_out_681", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_681/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_681/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_681/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.410, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.387, 0.382]). The trajectory involves 68 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_681", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 20, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_681.json" + } + }, + { + "id": "maniskill_PlugCharger_out_783", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_783/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_783/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_783/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.290, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.408, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_783", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 27, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_783.json" + } + }, + { + "id": "maniskill_PlugCharger_out_382", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_382/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_382/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_382/frame_0204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.308, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_382", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 29, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_382.json" + } + }, + { + "id": "maniskill_PlugCharger_out_901", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_901/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_901/frame_0148.jpg", + "maniskill/PlugCharger/images/episode_901/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.453, 0.599]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.452, 0.382]). The trajectory involves 126 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_901", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 27, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_901.json" + } + }, + { + "id": "maniskill_PlugCharger_out_691", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_691/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_691/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_691/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.348, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_691", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 29, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_691.json" + } + }, + { + "id": "maniskill_PlugCharger_out_227", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_227/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_227/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_227/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.318, 0.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.432, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_227", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 29, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_227.json" + } + }, + { + "id": "maniskill_PlugCharger_out_442", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_442/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_442/frame_0140.jpg", + "maniskill/PlugCharger/images/episode_442/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.391, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 120 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_442", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 28, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_442.json" + } + }, + { + "id": "maniskill_PlugCharger_out_778", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_778/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_778/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_778/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.313, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.368, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_778", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 21, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_778.json" + } + }, + { + "id": "maniskill_PlugCharger_out_155", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_155/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_155/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_155/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.451, 0.549]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_155", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 27, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_155.json" + } + }, + { + "id": "maniskill_PlugCharger_out_3", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_3/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_3/frame_0131.jpg", + "maniskill/PlugCharger/images/episode_3/frame_0231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.400, 0.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.382]). The trajectory involves 128 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_3", + "trajectory_length": 128, + "key_frame_indices": [ + 0, + 27, + 127 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_3.json" + } + }, + { + "id": "maniskill_PlugCharger_out_742", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_742/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_742/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_742/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.513, 0.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.372, 0.382]). The trajectory involves 116 precise waypoints with total movement distance of 0.349." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_742", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 24, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_742.json" + } + }, + { + "id": "maniskill_PlugCharger_out_403", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_403/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_403/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_403/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.474, 0.568]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_403", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 21, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_403.json" + } + }, + { + "id": "maniskill_PlugCharger_out_654", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_654/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_654/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_654/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.367, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.435, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_654", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 29, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_654.json" + } + }, + { + "id": "maniskill_PlugCharger_out_129", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_129/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_129/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_129/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.278, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.467, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_129", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_129.json" + } + }, + { + "id": "maniskill_PlugCharger_out_883", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_883/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_883/frame_0138.jpg", + "maniskill/PlugCharger/images/episode_883/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.272, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.434, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_883", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 29, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_883.json" + } + }, + { + "id": "maniskill_PlugCharger_out_862", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_862/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_862/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_862/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.277, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_862", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 46, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_862.json" + } + }, + { + "id": "maniskill_PlugCharger_out_693", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_693/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_693/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_693/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.264, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_693", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 28, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_693.json" + } + }, + { + "id": "maniskill_PlugCharger_out_782", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_782/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_782/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_782/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.367, 0.548]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_782", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 26, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_782.json" + } + }, + { + "id": "maniskill_PlugCharger_out_547", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_547/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_547/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_547/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.351, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_547", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 20, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_547.json" + } + }, + { + "id": "maniskill_PlugCharger_out_714", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_714/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_714/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_714/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.336, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.518, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_714", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 29, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_714.json" + } + }, + { + "id": "maniskill_PlugCharger_out_828", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_828/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_828/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_828/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.320, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.385, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_828", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 27, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_828.json" + } + }, + { + "id": "maniskill_PlugCharger_out_69", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_69/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_69/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_69/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.455, 0.601]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.516, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_69", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 23, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_69.json" + } + }, + { + "id": "maniskill_PlugCharger_out_727", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_727/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_727/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_727/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.317, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.381]). The trajectory involves 70 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_727", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 22, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_727.json" + } + }, + { + "id": "maniskill_PlugCharger_out_720", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_720/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_720/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_720/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.286, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.363, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_720", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_720.json" + } + }, + { + "id": "maniskill_PlugCharger_out_830", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_830/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_830/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_830/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.439, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_830", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 24, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_830.json" + } + }, + { + "id": "maniskill_PlugCharger_out_898", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_898/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_898/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_898/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.447, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.426, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_898", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 27, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_898.json" + } + }, + { + "id": "maniskill_PlugCharger_out_978", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_978/frame_0071.jpg", + "maniskill/PlugCharger/images/episode_978/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_978/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.278, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_978", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_978.json" + } + }, + { + "id": "maniskill_PlugCharger_out_7", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_7/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_7/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_7/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.281, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.358, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_7", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 24, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_7.json" + } + }, + { + "id": "maniskill_PlugCharger_out_328", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_328/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_328/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_328/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.495, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.416, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_328", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 27, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_328.json" + } + }, + { + "id": "maniskill_PlugCharger_out_489", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_489/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_489/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_489/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.507, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_489", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 26, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_489.json" + } + }, + { + "id": "maniskill_PlugCharger_out_679", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_679/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_679/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_679/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.297, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.375, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_679", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 29, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_679.json" + } + }, + { + "id": "maniskill_PlugCharger_out_670", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_670/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_670/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_670/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.442, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.470, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_670", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 27, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_670.json" + } + }, + { + "id": "maniskill_PlugCharger_out_923", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_923/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_923/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_923/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.459, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_923", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_923.json" + } + }, + { + "id": "maniskill_PlugCharger_out_510", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_510/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_510/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_510/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.272, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.354, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_510", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 28, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_510.json" + } + }, + { + "id": "maniskill_PlugCharger_out_972", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_972/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_972/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_972/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.229, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.532, 0.380]). The trajectory involves 87 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_972", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 27, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_972.json" + } + }, + { + "id": "maniskill_PlugCharger_out_376", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_376/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_376/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_376/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.315, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.446, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_376", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 23, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_376.json" + } + }, + { + "id": "maniskill_PlugCharger_out_245", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_245/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_245/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_245/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.310, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.458, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_245", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 28, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_245.json" + } + }, + { + "id": "maniskill_PlugCharger_out_390", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_390/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_390/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_390/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.383, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.546, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_390", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 29, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_390.json" + } + }, + { + "id": "maniskill_PlugCharger_out_86", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_86/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_86/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_86/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.480, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_86", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 27, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_86.json" + } + }, + { + "id": "maniskill_PlugCharger_out_996", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_996/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_996/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_996/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.316, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_996", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 24, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_996.json" + } + }, + { + "id": "maniskill_PlugCharger_out_232", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_232/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_232/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_232/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.259, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_232", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 29, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_232.json" + } + }, + { + "id": "maniskill_PlugCharger_out_385", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_385/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_385/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_385/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.416, 0.571]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.445, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_385", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 27, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_385.json" + } + }, + { + "id": "maniskill_PlugCharger_out_947", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_947/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_947/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_947/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.312, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.512, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_947", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 29, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_947.json" + } + }, + { + "id": "maniskill_PlugCharger_out_963", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_963/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_963/frame_0172.jpg", + "maniskill/PlugCharger/images/episode_963/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.233, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.484, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_963", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 61, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_963.json" + } + }, + { + "id": "maniskill_PlugCharger_out_391", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_391/frame_0074.jpg", + "maniskill/PlugCharger/images/episode_391/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_391/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_391", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 28, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_391.json" + } + }, + { + "id": "maniskill_PlugCharger_out_664", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_664/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_664/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_664/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.377, 0.525]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_664", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_664.json" + } + }, + { + "id": "maniskill_PlugCharger_out_259", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_259/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_259/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_259/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.335, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.442, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_259", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 28, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_259.json" + } + }, + { + "id": "maniskill_PlugCharger_out_721", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_721/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_721/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_721/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.521, 0.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_721", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 27, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_721.json" + } + }, + { + "id": "maniskill_PlugCharger_out_346", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_346/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_346/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_346/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.413, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_346", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 28, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_346.json" + } + }, + { + "id": "maniskill_PlugCharger_out_805", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_805/frame_0074.jpg", + "maniskill/PlugCharger/images/episode_805/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_805/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.239, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.458, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_805", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 29, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_805.json" + } + }, + { + "id": "maniskill_PlugCharger_out_914", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_914/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_914/frame_0237.jpg", + "maniskill/PlugCharger/images/episode_914/frame_0247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.469, 0.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.382]). The trajectory involves 136 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_914", + "trajectory_length": 136, + "key_frame_indices": [ + 0, + 125, + 135 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_914.json" + } + }, + { + "id": "maniskill_PlugCharger_out_8", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_8/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_8/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_8/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.313, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_8", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 24, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_8.json" + } + }, + { + "id": "maniskill_PlugCharger_out_240", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_240/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_240/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_240/frame_0205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.314, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_240", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 28, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_240.json" + } + }, + { + "id": "maniskill_PlugCharger_out_723", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_723/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_723/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_723/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.443, 0.580]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.409, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_723", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_723.json" + } + }, + { + "id": "maniskill_PlugCharger_out_587", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_587/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_587/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_587/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.303, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_587", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 28, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_587.json" + } + }, + { + "id": "maniskill_PlugCharger_out_332", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_332/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_332/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_332/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.395, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_332", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 27, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_332.json" + } + }, + { + "id": "maniskill_PlugCharger_out_500", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_500/frame_0074.jpg", + "maniskill/PlugCharger/images/episode_500/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_500/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.579, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.524, 0.382]). The trajectory involves 88 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_500", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 27, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_500.json" + } + }, + { + "id": "maniskill_PlugCharger_out_649", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_649/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_649/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_649/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_649", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 22, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_649.json" + } + }, + { + "id": "maniskill_PlugCharger_out_504", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_504/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_504/frame_0148.jpg", + "maniskill/PlugCharger/images/episode_504/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.246, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.472, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_504", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 30, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_504.json" + } + }, + { + "id": "maniskill_PlugCharger_out_662", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_662/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_662/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_662/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.361, 0.548]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.381]). The trajectory involves 71 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_662", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 23, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_662.json" + } + }, + { + "id": "maniskill_PlugCharger_out_284", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_284/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_284/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_284/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.400, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_284", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 28, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_284.json" + } + }, + { + "id": "maniskill_PlugCharger_out_272", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_272/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_272/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_272/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.257, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_272", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 30, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_272.json" + } + }, + { + "id": "maniskill_PlugCharger_out_976", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_976/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_976/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_976/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.387, 0.525]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.461, 0.382]). The trajectory involves 59 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_976", + "trajectory_length": 59, + "key_frame_indices": [ + 0, + 13, + 58 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_976.json" + } + }, + { + "id": "maniskill_PlugCharger_out_174", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_174/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_174/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_174/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.382]). The trajectory involves 111 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_174", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 29, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_174.json" + } + }, + { + "id": "maniskill_PlugCharger_out_289", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_289/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_289/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_289/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.269, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.449, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_289", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 29, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_289.json" + } + }, + { + "id": "maniskill_PlugCharger_out_529", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_529/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_529/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_529/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.410, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_529", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 27, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_529.json" + } + }, + { + "id": "maniskill_PlugCharger_out_433", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_433/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_433/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_433/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.316, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.444, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_433", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 29, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_433.json" + } + }, + { + "id": "maniskill_PlugCharger_out_551", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_551/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_551/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_551/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.311, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.407, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_551", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_551.json" + } + }, + { + "id": "maniskill_PlugCharger_out_104", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_104/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_104/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_104/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.490, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.495, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_104", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 27, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_104.json" + } + }, + { + "id": "maniskill_PlugCharger_out_949", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_949/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_949/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_949/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.405, 0.579]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.474, 0.380]). The trajectory involves 74 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_949", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_949.json" + } + }, + { + "id": "maniskill_PlugCharger_out_196", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_196/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_196/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_196/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.344, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.481, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_196", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_196.json" + } + }, + { + "id": "maniskill_PlugCharger_out_65", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_65/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_65/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_65/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.425, 0.577]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.433, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_65", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 27, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_65.json" + } + }, + { + "id": "maniskill_PlugCharger_out_230", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_230/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_230/frame_0142.jpg", + "maniskill/PlugCharger/images/episode_230/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.552, 0.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 120 precise waypoints with total movement distance of 0.359." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_230", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 27, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_230.json" + } + }, + { + "id": "maniskill_PlugCharger_out_197", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_197/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_197/frame_0169.jpg", + "maniskill/PlugCharger/images/episode_197/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.382]). The trajectory involves 121 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_197", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 63, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_197.json" + } + }, + { + "id": "maniskill_PlugCharger_out_921", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_921/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_921/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_921/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.392, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_921", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 28, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_921.json" + } + }, + { + "id": "maniskill_PlugCharger_out_381", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_381/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_381/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_381/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.381, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.381]). The trajectory involves 69 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_381", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_381.json" + } + }, + { + "id": "maniskill_PlugCharger_out_128", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_128/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_128/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_128/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.414, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_128", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 26, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_128.json" + } + }, + { + "id": "maniskill_PlugCharger_out_958", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_958/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_958/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_958/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.475, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.363, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_958", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 27, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_958.json" + } + }, + { + "id": "maniskill_PlugCharger_out_560", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_560/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_560/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_560/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.329, 0.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.455, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_560", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 32, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_560.json" + } + }, + { + "id": "maniskill_PlugCharger_out_508", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_508/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_508/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_508/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.343, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.367, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_508", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 28, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_508.json" + } + }, + { + "id": "maniskill_PlugCharger_out_788", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_788/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_788/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_788/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.551, 0.591]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.497, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_788", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 26, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_788.json" + } + }, + { + "id": "maniskill_PlugCharger_out_836", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_836/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_836/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_836/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.365, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_836", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 27, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_836.json" + } + }, + { + "id": "maniskill_PlugCharger_out_735", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_735/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_735/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_735/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.271, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.400, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_735", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 25, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_735.json" + } + }, + { + "id": "maniskill_PlugCharger_out_143", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_143/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_143/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_143/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.281, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.382]). The trajectory involves 88 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_143", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 31, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_143.json" + } + }, + { + "id": "maniskill_PlugCharger_out_908", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_908/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_908/frame_0147.jpg", + "maniskill/PlugCharger/images/episode_908/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.238, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 120 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_908", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 37, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_908.json" + } + }, + { + "id": "maniskill_PlugCharger_out_475", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_475/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_475/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_475/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.377, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.403, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_475", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_475.json" + } + }, + { + "id": "maniskill_PlugCharger_out_944", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_944/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_944/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_944/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.454, 0.566]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.421, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_944", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 22, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_944.json" + } + }, + { + "id": "maniskill_PlugCharger_out_849", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_849/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_849/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_849/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.331, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.405, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_849", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_849.json" + } + }, + { + "id": "maniskill_PlugCharger_out_420", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_420/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_420/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_420/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.495, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_420", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_420.json" + } + }, + { + "id": "maniskill_PlugCharger_out_796", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_796/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_796/frame_0142.jpg", + "maniskill/PlugCharger/images/episode_796/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.281, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.371, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_796", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_796.json" + } + }, + { + "id": "maniskill_PlugCharger_out_458", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_458/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_458/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_458/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.409, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.467, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_458", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 28, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_458.json" + } + }, + { + "id": "maniskill_PlugCharger_out_481", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_481/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_481/frame_0142.jpg", + "maniskill/PlugCharger/images/episode_481/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.265, 0.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.441, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_481", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 32, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_481.json" + } + }, + { + "id": "maniskill_PlugCharger_out_222", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_222/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_222/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_222/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.262, 0.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_222", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 30, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_222.json" + } + }, + { + "id": "maniskill_PlugCharger_out_387", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_387/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_387/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_387/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.480, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_387", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 21, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_387.json" + } + }, + { + "id": "maniskill_PlugCharger_out_647", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_647/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_647/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_647/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.503, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.363, 0.382]). The trajectory involves 111 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_647", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 26, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_647.json" + } + }, + { + "id": "maniskill_PlugCharger_out_337", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_337/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_337/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_337/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.378, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.497, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_337", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 28, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_337.json" + } + }, + { + "id": "maniskill_PlugCharger_out_208", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_208/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_208/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_208/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.465, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.489, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_208", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 28, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_208.json" + } + }, + { + "id": "maniskill_PlugCharger_out_885", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_885/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_885/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_885/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.385, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.366, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_885", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 19, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_885.json" + } + }, + { + "id": "maniskill_PlugCharger_out_498", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_498/frame_0074.jpg", + "maniskill/PlugCharger/images/episode_498/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_498/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.288, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_498", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 27, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_498.json" + } + }, + { + "id": "maniskill_PlugCharger_out_946", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_946/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_946/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_946/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.332, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.369, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_946", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 28, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_946.json" + } + }, + { + "id": "maniskill_PlugCharger_out_640", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_640/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_640/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_640/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.415, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_640", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 26, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_640.json" + } + }, + { + "id": "maniskill_PlugCharger_out_864", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_864/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_864/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_864/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.291, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.475, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_864", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 28, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_864.json" + } + }, + { + "id": "maniskill_PlugCharger_out_133", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_133/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_133/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_133/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.326, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.389, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_133", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 24, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_133.json" + } + }, + { + "id": "maniskill_PlugCharger_out_791", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_791/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_791/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_791/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.295, 0.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.527, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_791", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 29, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_791.json" + } + }, + { + "id": "maniskill_PlugCharger_out_413", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_413/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_413/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_413/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.441, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.429, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_413", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 23, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_413.json" + } + }, + { + "id": "maniskill_PlugCharger_out_268", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_268/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_268/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_268/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.489, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.313." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_268", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 24, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_268.json" + } + }, + { + "id": "maniskill_PlugCharger_out_759", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_759/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_759/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_759/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.326, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_759", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 29, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_759.json" + } + }, + { + "id": "maniskill_PlugCharger_out_527", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_527/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_527/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_527/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.367, 0.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.408, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_527", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 28, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_527.json" + } + }, + { + "id": "maniskill_PlugCharger_out_394", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_394/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_394/frame_0165.jpg", + "maniskill/PlugCharger/images/episode_394/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.264, 0.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.483, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_394", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 51, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_394.json" + } + }, + { + "id": "maniskill_PlugCharger_out_200", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_200/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_200/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_200/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.376, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_200", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_200.json" + } + }, + { + "id": "maniskill_PlugCharger_out_724", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_724/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_724/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_724/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.249, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_724", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 29, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_724.json" + } + }, + { + "id": "maniskill_PlugCharger_out_520", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_520/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_520/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_520/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.330, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_520", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 29, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_520.json" + } + }, + { + "id": "maniskill_PlugCharger_out_764", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_764/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_764/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_764/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.280, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.493, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_764", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 28, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_764.json" + } + }, + { + "id": "maniskill_PlugCharger_out_351", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_351/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_351/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_351/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.417, 0.579]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.381]). The trajectory involves 87 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_351", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 28, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_351.json" + } + }, + { + "id": "maniskill_PlugCharger_out_457", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_457/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_457/frame_0218.jpg", + "maniskill/PlugCharger/images/episode_457/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 120 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_457", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 107, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_457.json" + } + }, + { + "id": "maniskill_PlugCharger_out_973", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_973/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_973/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_973/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.294, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.508, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_973", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 41, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_973.json" + } + }, + { + "id": "maniskill_PlugCharger_out_526", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_526/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_526/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_526/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.425, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.350, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_526", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 26, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_526.json" + } + }, + { + "id": "maniskill_PlugCharger_out_56", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_56/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_56/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_56/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.365, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_56", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 28, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_56.json" + } + }, + { + "id": "maniskill_PlugCharger_out_636", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_636/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_636/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_636/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.359, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.478, 0.381]). The trajectory involves 72 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_636", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_636.json" + } + }, + { + "id": "maniskill_PlugCharger_out_831", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_831/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_831/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_831/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.479, 0.606]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.461, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_831", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 26, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_831.json" + } + }, + { + "id": "maniskill_PlugCharger_out_802", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_802/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_802/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_802/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.402, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.482, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_802", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 26, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_802.json" + } + }, + { + "id": "maniskill_PlugCharger_out_348", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_348/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_348/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_348/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.556, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_348", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 28, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_348.json" + } + }, + { + "id": "maniskill_PlugCharger_out_445", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_445/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_445/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_445/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.296, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.457, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_445", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 22, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_445.json" + } + }, + { + "id": "maniskill_PlugCharger_out_283", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_283/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_283/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_283/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.358, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.412, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_283", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 28, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_283.json" + } + }, + { + "id": "maniskill_PlugCharger_out_690", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_690/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_690/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_690/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.361, 0.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_690", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 28, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_690.json" + } + }, + { + "id": "maniskill_PlugCharger_out_660", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_660/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_660/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_660/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.347, 0.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_660", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 29, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_660.json" + } + }, + { + "id": "maniskill_PlugCharger_out_33", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_33/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_33/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_33/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.479, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.519, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_33", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_33.json" + } + }, + { + "id": "maniskill_PlugCharger_out_688", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_688/frame_0074.jpg", + "maniskill/PlugCharger/images/episode_688/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_688/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.521, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.369, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_688", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 21, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_688.json" + } + }, + { + "id": "maniskill_PlugCharger_out_577", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_577/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_577/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_577/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.314, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.455, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_577", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 27, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_577.json" + } + }, + { + "id": "maniskill_PlugCharger_out_992", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_992/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_992/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_992/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.378, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.386, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_992", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 28, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_992.json" + } + }, + { + "id": "maniskill_PlugCharger_out_854", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_854/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_854/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_854/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.422, 0.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_854", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 26, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_854.json" + } + }, + { + "id": "maniskill_PlugCharger_out_995", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_995/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_995/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_995/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.225, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.532, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.348." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_995", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 18, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_995.json" + } + }, + { + "id": "maniskill_PlugCharger_out_254", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_254/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_254/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_254/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.503, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.476, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_254", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 26, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_254.json" + } + }, + { + "id": "maniskill_PlugCharger_out_710", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_710/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_710/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_710/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.356, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_710", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 28, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_710.json" + } + }, + { + "id": "maniskill_PlugCharger_out_373", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_373/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_373/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_373/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.297, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.487, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_373", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 22, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_373.json" + } + }, + { + "id": "maniskill_PlugCharger_out_739", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_739/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_739/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_739/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.287, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.375, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_739", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 20, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_739.json" + } + }, + { + "id": "maniskill_PlugCharger_out_82", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_82/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_82/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_82/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.392, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.411, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_82", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 26, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_82.json" + } + }, + { + "id": "maniskill_PlugCharger_out_459", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_459/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_459/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_459/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.471, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_459", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 22, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_459.json" + } + }, + { + "id": "maniskill_PlugCharger_out_989", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_989/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_989/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_989/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.268, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_989", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 30, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_989.json" + } + }, + { + "id": "maniskill_PlugCharger_out_683", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_683/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_683/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_683/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.275, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_683", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 40, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_683.json" + } + }, + { + "id": "maniskill_PlugCharger_out_125", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_125/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_125/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_125/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.400, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.499, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_125", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 28, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_125.json" + } + }, + { + "id": "maniskill_PlugCharger_out_785", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_785/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_785/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_785/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.234, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_785", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 28, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_785.json" + } + }, + { + "id": "maniskill_PlugCharger_out_303", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_303/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_303/frame_0143.jpg", + "maniskill/PlugCharger/images/episode_303/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.267, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.435, 0.382]). The trajectory involves 121 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_303", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 30, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_303.json" + } + }, + { + "id": "maniskill_PlugCharger_out_960", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_960/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_960/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_960/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.321, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.525, 0.380]). The trajectory involves 74 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_960", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_960.json" + } + }, + { + "id": "maniskill_PlugCharger_out_388", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_388/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_388/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_388/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.279, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.433, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_388", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_388.json" + } + }, + { + "id": "maniskill_PlugCharger_out_258", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_258/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_258/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_258/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.348, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.506, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_258", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 29, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_258.json" + } + }, + { + "id": "maniskill_PlugCharger_out_48", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_48/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_48/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_48/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.352, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.510, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_48", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 28, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_48.json" + } + }, + { + "id": "maniskill_PlugCharger_out_590", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_590/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_590/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_590/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.499, 0.563]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.393, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_590", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 20, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_590.json" + } + }, + { + "id": "maniskill_PlugCharger_out_415", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_415/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_415/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_415/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.343, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.536, 0.382]). The trajectory involves 64 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_415", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 15, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_415.json" + } + }, + { + "id": "maniskill_PlugCharger_out_719", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_719/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_719/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_719/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.370, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.450, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_719", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 25, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_719.json" + } + }, + { + "id": "maniskill_PlugCharger_out_67", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_67/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_67/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_67/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.428, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_67", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 28, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_67.json" + } + }, + { + "id": "maniskill_PlugCharger_out_814", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_814/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_814/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_814/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.320, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.506, 0.382]). The trajectory involves 117 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_814", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 30, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_814.json" + } + }, + { + "id": "maniskill_PlugCharger_out_465", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_465/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_465/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_465/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.290, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.493, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_465", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 30, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_465.json" + } + }, + { + "id": "maniskill_PlugCharger_out_47", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_47/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_47/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_47/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.352, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.494, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_47", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_47.json" + } + }, + { + "id": "maniskill_PlugCharger_out_820", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_820/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_820/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_820/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.487, 0.581]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_820", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 26, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_820.json" + } + }, + { + "id": "maniskill_PlugCharger_out_443", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_443/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_443/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_443/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.527, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.447, 0.380]). The trajectory involves 84 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_443", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 26, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_443.json" + } + }, + { + "id": "maniskill_PlugCharger_out_473", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_473/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_473/frame_0207.jpg", + "maniskill/PlugCharger/images/episode_473/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.246, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.380, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_473", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 101, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_473.json" + } + }, + { + "id": "maniskill_PlugCharger_out_929", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_929/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_929/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_929/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.317, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.367, 0.381]). The trajectory involves 72 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_929", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_929.json" + } + }, + { + "id": "maniskill_PlugCharger_out_839", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_839/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_839/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_839/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.309, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.441, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_839", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 28, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_839.json" + } + }, + { + "id": "maniskill_PlugCharger_out_757", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_757/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_757/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_757/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.456, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.528, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_757", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 27, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_757.json" + } + }, + { + "id": "maniskill_PlugCharger_out_763", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_763/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_763/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_763/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.513, 0.582]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.532, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_763", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 27, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_763.json" + } + }, + { + "id": "maniskill_PlugCharger_out_751", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_751/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_751/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_751/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.391, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.486, 0.380]). The trajectory involves 71 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_751", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_751.json" + } + }, + { + "id": "maniskill_PlugCharger_out_401", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_401/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_401/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_401/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.315, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.526, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_401", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 28, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_401.json" + } + }, + { + "id": "maniskill_PlugCharger_out_621", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_621/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_621/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_621/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.310, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_621", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 29, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_621.json" + } + }, + { + "id": "maniskill_PlugCharger_out_456", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_456/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_456/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_456/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.533, 0.608]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.444, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_456", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_456.json" + } + }, + { + "id": "maniskill_PlugCharger_out_511", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_511/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_511/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_511/frame_0204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.515, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.510, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_511", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 27, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_511.json" + } + }, + { + "id": "maniskill_PlugCharger_out_483", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_483/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_483/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_483/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.470, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.507, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_483", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 27, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_483.json" + } + }, + { + "id": "maniskill_PlugCharger_out_576", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_576/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_576/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_576/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.299, 0.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.449, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_576", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 29, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_576.json" + } + }, + { + "id": "maniskill_PlugCharger_out_347", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_347/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_347/frame_0182.jpg", + "maniskill/PlugCharger/images/episode_347/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.253, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.494, 0.382]). The trajectory involves 121 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_347", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 63, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_347.json" + } + }, + { + "id": "maniskill_PlugCharger_out_760", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_760/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_760/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_760/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.465, 0.562]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_760", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 19, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_760.json" + } + }, + { + "id": "maniskill_PlugCharger_out_984", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_984/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_984/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_984/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.269, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.395, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_984", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 34, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_984.json" + } + }, + { + "id": "maniskill_PlugCharger_out_505", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_505/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_505/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_505/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.546, 0.577]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.462, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_505", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 19, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_505.json" + } + }, + { + "id": "maniskill_PlugCharger_out_183", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_183/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_183/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_183/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.422, 0.549]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.519, 0.381]). The trajectory involves 76 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_183", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 23, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_183.json" + } + }, + { + "id": "maniskill_PlugCharger_out_609", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_609/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_609/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_609/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.360, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 61 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_609", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 13, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_609.json" + } + }, + { + "id": "maniskill_PlugCharger_out_600", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_600/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_600/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_600/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.488, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.526, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_600", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_600.json" + } + }, + { + "id": "maniskill_PlugCharger_out_745", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_745/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_745/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_745/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.311, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.486, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_745", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_745.json" + } + }, + { + "id": "maniskill_PlugCharger_out_251", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_251/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_251/frame_0169.jpg", + "maniskill/PlugCharger/images/episode_251/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_251", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 54, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_251.json" + } + }, + { + "id": "maniskill_PlugCharger_out_89", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_89/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_89/frame_0174.jpg", + "maniskill/PlugCharger/images/episode_89/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.222, 0.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.382]). The trajectory involves 122 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_89", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 63, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_89.json" + } + }, + { + "id": "maniskill_PlugCharger_out_964", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_964/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_964/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_964/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.289, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_964", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_964.json" + } + }, + { + "id": "maniskill_PlugCharger_out_496", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_496/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_496/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_496/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.397, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.476, 0.382]). The trajectory involves 68 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_496", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 16, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_496.json" + } + }, + { + "id": "maniskill_PlugCharger_out_321", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_321/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_321/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_321/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.432, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.391, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_321", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 27, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_321.json" + } + }, + { + "id": "maniskill_PlugCharger_out_699", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_699/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_699/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_699/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.271, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_699", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_699.json" + } + }, + { + "id": "maniskill_PlugCharger_out_435", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_435/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_435/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_435/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.306, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.388, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_435", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 30, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_435.json" + } + }, + { + "id": "maniskill_PlugCharger_out_601", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_601/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_601/frame_0156.jpg", + "maniskill/PlugCharger/images/episode_601/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.332, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.382]). The trajectory involves 116 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_601", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 54, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_601.json" + } + }, + { + "id": "maniskill_PlugCharger_out_604", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_604/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_604/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_604/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.370, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.426, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_604", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 21, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_604.json" + } + }, + { + "id": "maniskill_PlugCharger_out_713", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_713/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_713/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_713/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.476, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.410, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_713", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 20, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_713.json" + } + }, + { + "id": "maniskill_PlugCharger_out_195", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_195/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_195/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_195/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.280, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.481, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_195", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 26, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_195.json" + } + }, + { + "id": "maniskill_PlugCharger_out_731", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_731/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_731/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_731/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.376, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_731", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 28, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_731.json" + } + }, + { + "id": "maniskill_PlugCharger_out_801", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_801/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_801/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_801/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.458, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_801", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 28, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_801.json" + } + }, + { + "id": "maniskill_PlugCharger_out_765", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_765/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_765/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_765/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.414, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_765", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 28, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_765.json" + } + }, + { + "id": "maniskill_PlugCharger_out_233", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_233/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_233/frame_0149.jpg", + "maniskill/PlugCharger/images/episode_233/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.448, 0.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_233", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 27, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_233.json" + } + }, + { + "id": "maniskill_PlugCharger_out_641", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_641/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_641/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_641/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.393, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.486, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_641", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 26, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_641.json" + } + }, + { + "id": "maniskill_PlugCharger_out_922", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_922/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_922/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_922/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.537, 0.612]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_922", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 26, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_922.json" + } + }, + { + "id": "maniskill_PlugCharger_out_431", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_431/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_431/frame_0142.jpg", + "maniskill/PlugCharger/images/episode_431/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.271, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.443, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_431", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 29, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_431.json" + } + }, + { + "id": "maniskill_PlugCharger_out_4", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_4/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_4/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_4/frame_0233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.434, 0.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_4", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 28, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_4.json" + } + }, + { + "id": "maniskill_PlugCharger_out_182", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_182/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_182/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_182/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.462, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.519, 0.382]). The trajectory involves 66 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_182", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 20, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_182.json" + } + }, + { + "id": "maniskill_PlugCharger_out_676", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_676/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_676/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_676/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.422, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.549, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_676", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 29, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_676.json" + } + }, + { + "id": "maniskill_PlugCharger_out_927", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_927/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_927/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_927/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.438, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_927", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 26, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_927.json" + } + }, + { + "id": "maniskill_PlugCharger_out_842", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_842/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_842/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_842/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.283, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.420, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_842", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 21, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_842.json" + } + }, + { + "id": "maniskill_PlugCharger_out_799", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_799/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_799/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_799/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.312, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.441, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_799", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 29, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_799.json" + } + }, + { + "id": "maniskill_PlugCharger_out_324", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_324/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_324/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_324/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.514, 0.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.362, 0.382]). The trajectory involves 121 precise waypoints with total movement distance of 0.348." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_324", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 25, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_324.json" + } + }, + { + "id": "maniskill_PlugCharger_out_678", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_678/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_678/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_678/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.292, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_678", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 30, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_678.json" + } + }, + { + "id": "maniskill_PlugCharger_out_689", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_689/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_689/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_689/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.330, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_689", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 29, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_689.json" + } + }, + { + "id": "maniskill_PlugCharger_out_810", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_810/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_810/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_810/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.314, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_810", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 27, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_810.json" + } + }, + { + "id": "maniskill_PlugCharger_out_422", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_422/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_422/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_422/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.466, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.488, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_422", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 20, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_422.json" + } + }, + { + "id": "maniskill_PlugCharger_out_472", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_472/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_472/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_472/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.288, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.505, 0.380]). The trajectory involves 88 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_472", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 28, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_472.json" + } + }, + { + "id": "maniskill_PlugCharger_out_938", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_938/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_938/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_938/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.258, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.413, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_938", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 30, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_938.json" + } + }, + { + "id": "maniskill_PlugCharger_out_22", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_22/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_22/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_22/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.347, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_22", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 26, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_22.json" + } + }, + { + "id": "maniskill_PlugCharger_out_642", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_642/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_642/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_642/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.268, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.462, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_642", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 30, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_642.json" + } + }, + { + "id": "maniskill_PlugCharger_out_585", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_585/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_585/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_585/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.490, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.393, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_585", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 26, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_585.json" + } + }, + { + "id": "maniskill_PlugCharger_out_669", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_669/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_669/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_669/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.265, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.434, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_669", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 26, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_669.json" + } + }, + { + "id": "maniskill_PlugCharger_out_281", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_281/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_281/frame_0153.jpg", + "maniskill/PlugCharger/images/episode_281/frame_0215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.337, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_281", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 52, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_281.json" + } + }, + { + "id": "maniskill_PlugCharger_out_444", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_444/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_444/frame_0146.jpg", + "maniskill/PlugCharger/images/episode_444/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.232, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.408, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_444", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 29, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_444.json" + } + }, + { + "id": "maniskill_PlugCharger_out_212", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_212/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_212/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_212/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.463, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_212", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_212.json" + } + }, + { + "id": "maniskill_PlugCharger_out_936", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_936/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_936/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_936/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.480, 0.610]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_936", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 27, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_936.json" + } + }, + { + "id": "maniskill_PlugCharger_out_255", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_255/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_255/frame_0141.jpg", + "maniskill/PlugCharger/images/episode_255/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.493, 0.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.382]). The trajectory involves 118 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_255", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 26, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_255.json" + } + }, + { + "id": "maniskill_PlugCharger_out_238", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_238/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_238/frame_0141.jpg", + "maniskill/PlugCharger/images/episode_238/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.265, 0.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_238", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 20, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_238.json" + } + }, + { + "id": "maniskill_PlugCharger_out_806", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_806/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_806/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_806/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.537, 0.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.382]). The trajectory involves 111 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_806", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 27, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_806.json" + } + }, + { + "id": "maniskill_PlugCharger_out_148", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_148/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_148/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_148/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.276, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_148", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 25, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_148.json" + } + }, + { + "id": "maniskill_PlugCharger_out_100", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_100/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_100/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_100/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.366, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_100", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 28, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_100.json" + } + }, + { + "id": "maniskill_PlugCharger_out_322", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_322/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_322/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_322/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.236, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_322", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 29, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_322.json" + } + }, + { + "id": "maniskill_PlugCharger_out_934", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_934/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_934/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_934/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.472, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_934", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_934.json" + } + }, + { + "id": "maniskill_PlugCharger_out_211", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_211/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_211/frame_0146.jpg", + "maniskill/PlugCharger/images/episode_211/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.382]). The trajectory involves 114 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_211", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 29, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_211.json" + } + }, + { + "id": "maniskill_PlugCharger_out_439", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_439/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_439/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_439/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.371, 0.548]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.506, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_439", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_439.json" + } + }, + { + "id": "maniskill_PlugCharger_out_115", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_115/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_115/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_115/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.359, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.508, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_115", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 27, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_115.json" + } + }, + { + "id": "maniskill_PlugCharger_out_524", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_524/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_524/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_524/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.269, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.359, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_524", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_524.json" + } + }, + { + "id": "maniskill_PlugCharger_out_525", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_525/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_525/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_525/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.365, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.365, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_525", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 19, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_525.json" + } + }, + { + "id": "maniskill_PlugCharger_out_136", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_136/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_136/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_136/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.291, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_136", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 28, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_136.json" + } + }, + { + "id": "maniskill_PlugCharger_out_178", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_178/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_178/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_178/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.248, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.414, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_178", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 20, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_178.json" + } + }, + { + "id": "maniskill_PlugCharger_out_602", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_602/frame_0074.jpg", + "maniskill/PlugCharger/images/episode_602/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_602/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.269, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_602", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 28, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_602.json" + } + }, + { + "id": "maniskill_PlugCharger_out_871", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_871/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_871/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_871/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.250, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_871", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 42, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_871.json" + } + }, + { + "id": "maniskill_PlugCharger_out_651", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_651/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_651/frame_0154.jpg", + "maniskill/PlugCharger/images/episode_651/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.257, 0.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.404, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_651", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 52, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_651.json" + } + }, + { + "id": "maniskill_PlugCharger_out_515", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_515/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_515/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_515/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.365, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.414, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_515", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 27, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_515.json" + } + }, + { + "id": "maniskill_PlugCharger_out_860", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_860/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_860/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_860/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.319, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.421, 0.382]). The trajectory involves 88 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_860", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 29, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_860.json" + } + }, + { + "id": "maniskill_PlugCharger_out_360", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_360/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_360/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_360/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.363, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.466, 0.381]). The trajectory involves 71 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_360", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 18, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_360.json" + } + }, + { + "id": "maniskill_PlugCharger_out_359", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_359/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_359/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_359/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.233, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_359", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 36, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_359.json" + } + }, + { + "id": "maniskill_PlugCharger_out_702", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_702/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_702/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_702/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.381, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_702", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 27, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_702.json" + } + }, + { + "id": "maniskill_PlugCharger_out_797", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_797/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_797/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_797/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.263, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.442, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_797", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 25, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_797.json" + } + }, + { + "id": "maniskill_PlugCharger_out_127", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_127/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_127/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_127/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.417, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_127", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 24, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_127.json" + } + }, + { + "id": "maniskill_PlugCharger_out_643", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_643/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_643/frame_0138.jpg", + "maniskill/PlugCharger/images/episode_643/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.509, 0.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_643", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 28, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_643.json" + } + }, + { + "id": "maniskill_PlugCharger_out_59", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_59/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_59/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_59/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.408, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.381]). The trajectory involves 69 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_59", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 22, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_59.json" + } + }, + { + "id": "maniskill_PlugCharger_out_703", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_703/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_703/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_703/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.410, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_703", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 21, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_703.json" + } + }, + { + "id": "maniskill_PlugCharger_out_50", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_50/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_50/frame_0176.jpg", + "maniskill/PlugCharger/images/episode_50/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.259, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 0.382]). The trajectory involves 124 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_50", + "trajectory_length": 124, + "key_frame_indices": [ + 0, + 64, + 123 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_50.json" + } + }, + { + "id": "maniskill_PlugCharger_out_152", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_152/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_152/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_152/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.396, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.490, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_152", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_152.json" + } + }, + { + "id": "maniskill_PlugCharger_out_968", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_968/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_968/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_968/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.360, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.450, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_968", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 26, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_968.json" + } + }, + { + "id": "maniskill_PlugCharger_out_534", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_534/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_534/frame_0131.jpg", + "maniskill/PlugCharger/images/episode_534/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.445, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.382]). The trajectory involves 111 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_534", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 27, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_534.json" + } + }, + { + "id": "maniskill_PlugCharger_out_57", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_57/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_57/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_57/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.322, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.426, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_57", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 28, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_57.json" + } + }, + { + "id": "maniskill_PlugCharger_out_632", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_632/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_632/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_632/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.299, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_632", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 26, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_632.json" + } + }, + { + "id": "maniskill_PlugCharger_out_53", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_53/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_53/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_53/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.398, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.393, 0.381]). The trajectory involves 77 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_53", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 22, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_53.json" + } + }, + { + "id": "maniskill_PlugCharger_out_26", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_26/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_26/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_26/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.326, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_26", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 20, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_26.json" + } + }, + { + "id": "maniskill_PlugCharger_out_179", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_179/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_179/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_179/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.338, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_179", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 22, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_179.json" + } + }, + { + "id": "maniskill_PlugCharger_out_333", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_333/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_333/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_333/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.343, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_333", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_333.json" + } + }, + { + "id": "maniskill_PlugCharger_out_339", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_339/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_339/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_339/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.442, 0.572]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.483, 0.382]). The trajectory involves 88 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_339", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 27, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_339.json" + } + }, + { + "id": "maniskill_PlugCharger_out_151", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_151/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_151/frame_0147.jpg", + "maniskill/PlugCharger/images/episode_151/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.410, 0.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.360, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_151", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 27, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_151.json" + } + }, + { + "id": "maniskill_PlugCharger_out_900", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_900/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_900/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_900/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.502, 0.563]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_900", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 14, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_900.json" + } + }, + { + "id": "maniskill_PlugCharger_out_705", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_705/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_705/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_705/frame_0243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.495, 0.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.382]). The trajectory involves 131 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_705", + "trajectory_length": 131, + "key_frame_indices": [ + 0, + 26, + 130 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_705.json" + } + }, + { + "id": "maniskill_PlugCharger_out_299", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_299/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_299/frame_0131.jpg", + "maniskill/PlugCharger/images/episode_299/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.378, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_299", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 29, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_299.json" + } + }, + { + "id": "maniskill_PlugCharger_out_446", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_446/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_446/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_446/frame_0187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.381, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.473, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_446", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 28, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_446.json" + } + }, + { + "id": "maniskill_PlugCharger_out_37", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_37/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_37/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_37/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.296, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_37", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 30, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_37.json" + } + }, + { + "id": "maniskill_PlugCharger_out_5", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_5/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_5/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_5/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.384, 0.562]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.490, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_5", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 27, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_5.json" + } + }, + { + "id": "maniskill_PlugCharger_out_189", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_189/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_189/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_189/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.429, 0.577]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.491, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_189", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_189.json" + } + }, + { + "id": "maniskill_PlugCharger_out_72", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_72/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_72/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_72/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.520, 0.572]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.411, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_72", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 26, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_72.json" + } + }, + { + "id": "maniskill_PlugCharger_out_793", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_793/frame_0074.jpg", + "maniskill/PlugCharger/images/episode_793/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_793/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.255, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.527, 0.381]). The trajectory involves 74 precise waypoints with total movement distance of 0.303." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_793", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 26, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_793.json" + } + }, + { + "id": "maniskill_PlugCharger_out_725", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_725/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_725/frame_0147.jpg", + "maniskill/PlugCharger/images/episode_725/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.342, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.413, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_725", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 27, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_725.json" + } + }, + { + "id": "maniskill_PlugCharger_out_589", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_589/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_589/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_589/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.523, 0.596]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.458, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_589", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 17, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_589.json" + } + }, + { + "id": "maniskill_PlugCharger_out_668", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_668/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_668/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_668/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.284, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.404, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_668", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 27, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_668.json" + } + }, + { + "id": "maniskill_PlugCharger_out_886", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_886/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_886/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_886/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.237, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.418, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_886", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_886.json" + } + }, + { + "id": "maniskill_PlugCharger_out_494", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_494/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_494/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_494/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.428, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.488, 0.382]). The trajectory involves 111 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_494", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 28, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_494.json" + } + }, + { + "id": "maniskill_PlugCharger_out_71", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_71/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_71/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_71/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.224, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.378, 0.382]). The trajectory involves 81 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_71", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 20, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_71.json" + } + }, + { + "id": "maniskill_PlugCharger_out_768", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_768/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_768/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_768/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.363, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_768", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 27, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_768.json" + } + }, + { + "id": "maniskill_PlugCharger_out_224", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_224/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_224/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_224/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.357, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.391, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_224", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 27, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_224.json" + } + }, + { + "id": "maniskill_PlugCharger_out_803", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_803/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_803/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_803/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.217, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_803", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 31, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_803.json" + } + }, + { + "id": "maniskill_PlugCharger_out_686", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_686/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_686/frame_0155.jpg", + "maniskill/PlugCharger/images/episode_686/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_686", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 50, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_686.json" + } + }, + { + "id": "maniskill_PlugCharger_out_569", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_569/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_569/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_569/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.296, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_569", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 29, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_569.json" + } + }, + { + "id": "maniskill_PlugCharger_out_252", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_252/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_252/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_252/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.287, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_252", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 28, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_252.json" + } + }, + { + "id": "maniskill_PlugCharger_out_969", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_969/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_969/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_969/frame_0224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.307, 0.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 117 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_969", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 29, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_969.json" + } + }, + { + "id": "maniskill_PlugCharger_out_215", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_215/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_215/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_215/frame_0204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.467, 0.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.411, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_215", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 27, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_215.json" + } + }, + { + "id": "maniskill_PlugCharger_out_675", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_675/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_675/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_675/frame_0187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.333, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.425, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_675", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 28, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_675.json" + } + }, + { + "id": "maniskill_PlugCharger_out_880", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_880/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_880/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_880/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.506, 0.382]). The trajectory involves 70 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_880", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 18, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_880.json" + } + }, + { + "id": "maniskill_PlugCharger_out_903", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_903/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_903/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_903/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.312, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_903", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 26, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_903.json" + } + }, + { + "id": "maniskill_PlugCharger_out_674", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_674/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_674/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_674/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.373, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.429, 0.381]). The trajectory involves 70 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_674", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 22, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_674.json" + } + }, + { + "id": "maniskill_PlugCharger_out_199", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_199/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_199/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_199/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.380]). The trajectory involves 74 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_199", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_199.json" + } + }, + { + "id": "maniskill_PlugCharger_out_44", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_44/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_44/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_44/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.397, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.558, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_44", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_44.json" + } + }, + { + "id": "maniskill_PlugCharger_out_123", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_123/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_123/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_123/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.495, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 114 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_123", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 27, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_123.json" + } + }, + { + "id": "maniskill_PlugCharger_out_92", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_92/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_92/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_92/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.416, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.429, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_92", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_92.json" + } + }, + { + "id": "maniskill_PlugCharger_out_410", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_410/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_410/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_410/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.387, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.378, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_410", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_410.json" + } + }, + { + "id": "maniskill_PlugCharger_out_32", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_32/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_32/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_32/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.406, 0.552]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.413, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_32", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 19, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_32.json" + } + }, + { + "id": "maniskill_PlugCharger_out_497", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_497/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_497/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_497/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.318, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.426, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_497", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 25, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_497.json" + } + }, + { + "id": "maniskill_PlugCharger_out_490", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_490/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_490/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_490/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.276, 0.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_490", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 32, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_490.json" + } + }, + { + "id": "maniskill_PlugCharger_out_872", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_872/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_872/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_872/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.366, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.488, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_872", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 27, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_872.json" + } + }, + { + "id": "maniskill_PlugCharger_out_536", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_536/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_536/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_536/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.277, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.482, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_536", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 26, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_536.json" + } + }, + { + "id": "maniskill_PlugCharger_out_118", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_118/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_118/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_118/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.383, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.503, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_118", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_118.json" + } + }, + { + "id": "maniskill_PlugCharger_out_628", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_628/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_628/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_628/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.285, 0.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.434, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_628", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 29, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_628.json" + } + }, + { + "id": "maniskill_PlugCharger_out_861", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_861/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_861/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_861/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.363, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.501, 0.381]). The trajectory involves 75 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_861", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_861.json" + } + }, + { + "id": "maniskill_PlugCharger_out_970", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_970/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_970/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_970/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.340, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.366, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_970", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 21, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_970.json" + } + }, + { + "id": "maniskill_PlugCharger_out_51", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_51/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_51/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_51/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.387, 0.549]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.524, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.259." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_51", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_51.json" + } + }, + { + "id": "maniskill_PlugCharger_out_28", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_28/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_28/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_28/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.298, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.437, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_28", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 31, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_28.json" + } + }, + { + "id": "maniskill_PlugCharger_out_562", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_562/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_562/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_562/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.307, 0.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.431, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_562", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 29, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_562.json" + } + }, + { + "id": "maniskill_PlugCharger_out_110", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_110/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_110/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_110/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.522, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.452, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_110", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 27, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_110.json" + } + }, + { + "id": "maniskill_PlugCharger_out_119", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_119/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_119/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_119/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.262, 0.487]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_119", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 20, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_119.json" + } + }, + { + "id": "maniskill_PlugCharger_out_302", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_302/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_302/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_302/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.285, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_302", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 29, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_302.json" + } + }, + { + "id": "maniskill_PlugCharger_out_776", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_776/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_776/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_776/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.515, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.380]). The trajectory involves 85 precise waypoints with total movement distance of 0.311." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_776", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 28, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_776.json" + } + }, + { + "id": "maniskill_PlugCharger_out_752", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_752/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_752/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_752/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.554, 0.602]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.384, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.349." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_752", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 25, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_752.json" + } + }, + { + "id": "maniskill_PlugCharger_out_866", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_866/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_866/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_866/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.422, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.381]). The trajectory involves 77 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_866", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 23, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_866.json" + } + }, + { + "id": "maniskill_PlugCharger_out_286", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_286/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_286/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_286/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.383, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.397, 0.381]). The trajectory involves 63 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_286", + "trajectory_length": 63, + "key_frame_indices": [ + 0, + 14, + 62 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_286.json" + } + }, + { + "id": "maniskill_PlugCharger_out_812", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_812/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_812/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_812/frame_0203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.544, 0.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.502, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_812", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 27, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_812.json" + } + }, + { + "id": "maniskill_PlugCharger_out_290", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_290/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_290/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_290/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.397, 0.566]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.497, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_290", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 27, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_290.json" + } + }, + { + "id": "maniskill_PlugCharger_out_997", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_997/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_997/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_997/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.506, 0.563]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.492, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_997", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 25, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_997.json" + } + }, + { + "id": "maniskill_PlugCharger_out_700", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_700/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_700/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_700/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.275, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.479, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.268." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_700", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_700.json" + } + }, + { + "id": "maniskill_PlugCharger_out_808", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_808/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_808/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_808/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.253, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_808", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 28, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_808.json" + } + }, + { + "id": "maniskill_PlugCharger_out_711", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_711/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_711/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_711/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.291, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.436, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_711", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 28, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_711.json" + } + }, + { + "id": "maniskill_PlugCharger_out_556", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_556/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_556/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_556/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.219, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.362, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_556", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_556.json" + } + }, + { + "id": "maniskill_PlugCharger_out_398", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_398/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_398/frame_0138.jpg", + "maniskill/PlugCharger/images/episode_398/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.296, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_398", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 44, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_398.json" + } + }, + { + "id": "maniskill_PlugCharger_out_644", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_644/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_644/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_644/frame_0213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.360, 0.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_644", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 28, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_644.json" + } + }, + { + "id": "maniskill_PlugCharger_out_971", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_971/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_971/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_971/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.473, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.531, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_971", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 25, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_971.json" + } + }, + { + "id": "maniskill_PlugCharger_out_108", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_108/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_108/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_108/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.269, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.421, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_108", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 22, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_108.json" + } + }, + { + "id": "maniskill_PlugCharger_out_809", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_809/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_809/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_809/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.433, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.414, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_809", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 22, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_809.json" + } + }, + { + "id": "maniskill_PlugCharger_out_939", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_939/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_939/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_939/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.268, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_939", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 23, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_939.json" + } + }, + { + "id": "maniskill_PlugCharger_out_135", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_135/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_135/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_135/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.481, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.390, 0.382]). The trajectory involves 113 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_135", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 25, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_135.json" + } + }, + { + "id": "maniskill_PlugCharger_out_792", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_792/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_792/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_792/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.258, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.504, 0.381]). The trajectory involves 76 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_792", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 24, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_792.json" + } + }, + { + "id": "maniskill_PlugCharger_out_758", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_758/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_758/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_758/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.287, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.474, 0.381]). The trajectory involves 84 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_758", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 26, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_758.json" + } + }, + { + "id": "maniskill_PlugCharger_out_61", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_61/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_61/frame_0128.jpg", + "maniskill/PlugCharger/images/episode_61/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.329, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.389, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_61", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 27, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_61.json" + } + }, + { + "id": "maniskill_PlugCharger_out_528", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_528/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_528/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_528/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.338, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_528", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 21, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_528.json" + } + }, + { + "id": "maniskill_PlugCharger_out_766", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_766/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_766/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_766/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.274, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_766", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 24, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_766.json" + } + }, + { + "id": "maniskill_PlugCharger_out_567", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_567/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_567/frame_0176.jpg", + "maniskill/PlugCharger/images/episode_567/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.235, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.382]). The trajectory involves 130 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_567", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 65, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_567.json" + } + }, + { + "id": "maniskill_PlugCharger_out_103", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_103/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_103/frame_0172.jpg", + "maniskill/PlugCharger/images/episode_103/frame_0232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.268, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.545, 0.382]). The trajectory involves 126 precise waypoints with total movement distance of 0.312." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_103", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 65, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_103.json" + } + }, + { + "id": "maniskill_PlugCharger_out_818", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_818/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_818/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_818/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.378, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.495, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_818", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_818.json" + } + }, + { + "id": "maniskill_PlugCharger_out_841", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_841/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_841/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_841/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.408, 0.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 0.382]). The trajectory involves 120 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_841", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 26, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_841.json" + } + }, + { + "id": "maniskill_PlugCharger_out_932", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_932/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_932/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_932/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.397, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_932", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 28, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_932.json" + } + }, + { + "id": "maniskill_PlugCharger_out_925", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_925/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_925/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_925/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.235, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.381]). The trajectory involves 84 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_925", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 30, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_925.json" + } + }, + { + "id": "maniskill_PlugCharger_out_467", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_467/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_467/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_467/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.394, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.384, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_467", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 21, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_467.json" + } + }, + { + "id": "maniskill_PlugCharger_out_697", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_697/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_697/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_697/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.520, 0.617]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.477, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_697", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 27, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_697.json" + } + }, + { + "id": "maniskill_PlugCharger_out_804", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_804/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_804/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_804/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.354, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.428, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_804", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 27, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_804.json" + } + }, + { + "id": "maniskill_PlugCharger_out_611", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_611/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_611/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_611/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.407, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.430, 0.381]). The trajectory involves 70 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_611", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 21, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_611.json" + } + }, + { + "id": "maniskill_PlugCharger_out_377", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_377/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_377/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_377/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.395, 0.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.376, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_377", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 26, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_377.json" + } + }, + { + "id": "maniskill_PlugCharger_out_1", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_1/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_1/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_1/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.312, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.381]). The trajectory involves 77 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_1", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 25, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_1.json" + } + }, + { + "id": "maniskill_PlugCharger_out_732", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_732/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_732/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_732/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.434, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_732", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 27, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_732.json" + } + }, + { + "id": "maniskill_PlugCharger_out_77", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_77/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_77/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_77/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.518, 0.618]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.488, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.314." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_77", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 20, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_77.json" + } + }, + { + "id": "maniskill_PlugCharger_out_310", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_310/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_310/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_310/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.284, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_310", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 23, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_310.json" + } + }, + { + "id": "maniskill_PlugCharger_out_540", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_540/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_540/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_540/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.229, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.419, 0.381]). The trajectory involves 78 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_540", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 25, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_540.json" + } + }, + { + "id": "maniskill_PlugCharger_out_578", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_578/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_578/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_578/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.331, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.449, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_578", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 27, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_578.json" + } + }, + { + "id": "maniskill_PlugCharger_out_263", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_263/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_263/frame_0143.jpg", + "maniskill/PlugCharger/images/episode_263/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.390, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_263", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 28, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_263.json" + } + }, + { + "id": "maniskill_PlugCharger_out_889", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_889/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_889/frame_0236.jpg", + "maniskill/PlugCharger/images/episode_889/frame_0246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.394, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.382]). The trajectory involves 127 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_889", + "trajectory_length": 127, + "key_frame_indices": [ + 0, + 116, + 126 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_889.json" + } + }, + { + "id": "maniskill_PlugCharger_out_367", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_367/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_367/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_367/frame_0187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.363, 0.552]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.377, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_367", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 27, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_367.json" + } + }, + { + "id": "maniskill_PlugCharger_out_106", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_106/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_106/frame_0147.jpg", + "maniskill/PlugCharger/images/episode_106/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.278, 0.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.468, 0.382]). The trajectory involves 120 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_106", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 31, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_106.json" + } + }, + { + "id": "maniskill_PlugCharger_out_265", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_265/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_265/frame_0137.jpg", + "maniskill/PlugCharger/images/episode_265/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.363, 0.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.373, 0.382]). The trajectory involves 115 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_265", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 28, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_265.json" + } + }, + { + "id": "maniskill_PlugCharger_out_535", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_535/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_535/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_535/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.383, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_535", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 29, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_535.json" + } + }, + { + "id": "maniskill_PlugCharger_out_572", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_572/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_572/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_572/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.244, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_572", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 29, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_572.json" + } + }, + { + "id": "maniskill_PlugCharger_out_673", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_673/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_673/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_673/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.366, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_673", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 27, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_673.json" + } + }, + { + "id": "maniskill_PlugCharger_out_326", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_326/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_326/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_326/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.360, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.439, 0.380]). The trajectory involves 68 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_326", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 21, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_326.json" + } + }, + { + "id": "maniskill_PlugCharger_out_749", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_749/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_749/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_749/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.273, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.486, 0.380]). The trajectory involves 64 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_749", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 17, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_749.json" + } + }, + { + "id": "maniskill_PlugCharger_out_837", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_837/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_837/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_837/frame_0209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.320, 0.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_837", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 28, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_837.json" + } + }, + { + "id": "maniskill_PlugCharger_out_357", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_357/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_357/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_357/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.372, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.391, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_357", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 27, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_357.json" + } + }, + { + "id": "maniskill_PlugCharger_out_648", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_648/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_648/frame_0209.jpg", + "maniskill/PlugCharger/images/episode_648/frame_0222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.323, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.382]). The trajectory involves 122 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_648", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 108, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_648.json" + } + }, + { + "id": "maniskill_PlugCharger_out_157", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_157/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_157/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_157/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.347, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.480, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_157", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 23, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_157.json" + } + }, + { + "id": "maniskill_PlugCharger_out_492", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_492/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_492/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_492/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.481, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_492", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 26, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_492.json" + } + }, + { + "id": "maniskill_PlugCharger_out_895", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_895/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_895/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_895/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.345, 0.521]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_895", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 29, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_895.json" + } + }, + { + "id": "maniskill_PlugCharger_out_733", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_733/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_733/frame_0158.jpg", + "maniskill/PlugCharger/images/episode_733/frame_0218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.225, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.446, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_733", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 47, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_733.json" + } + }, + { + "id": "maniskill_PlugCharger_out_250", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_250/frame_0073.jpg", + "maniskill/PlugCharger/images/episode_250/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_250/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.418, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_250", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 28, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_250.json" + } + }, + { + "id": "maniskill_PlugCharger_out_588", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_588/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_588/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_588/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.348, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.398, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_588", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 27, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_588.json" + } + }, + { + "id": "maniskill_PlugCharger_out_503", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_503/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_503/frame_0178.jpg", + "maniskill/PlugCharger/images/episode_503/frame_0238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.239, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 121 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_503", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 60, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_503.json" + } + }, + { + "id": "maniskill_PlugCharger_out_131", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_131/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_131/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_131/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.295, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.495, 0.381]). The trajectory involves 80 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_131", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 25, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_131.json" + } + }, + { + "id": "maniskill_PlugCharger_out_824", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_824/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_824/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_824/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.277, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.440, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_824", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 30, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_824.json" + } + }, + { + "id": "maniskill_PlugCharger_out_666", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_666/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_666/frame_0144.jpg", + "maniskill/PlugCharger/images/episode_666/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.516, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.533, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_666", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 27, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_666.json" + } + }, + { + "id": "maniskill_PlugCharger_out_269", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_269/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_269/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_269/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.412, 0.561]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.538, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_269", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_269.json" + } + }, + { + "id": "maniskill_PlugCharger_out_203", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_203/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_203/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_203/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.278, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.459, 0.382]). The trajectory involves 66 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_203", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 20, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_203.json" + } + }, + { + "id": "maniskill_PlugCharger_out_156", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_156/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_156/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_156/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.364, 0.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_156", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 28, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_156.json" + } + }, + { + "id": "maniskill_PlugCharger_out_987", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_987/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_987/frame_0146.jpg", + "maniskill/PlugCharger/images/episode_987/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.269, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.540, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.330." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_987", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 42, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_987.json" + } + }, + { + "id": "maniskill_PlugCharger_out_961", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_961/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_961/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_961/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.271, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.508, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_961", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 27, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_961.json" + } + }, + { + "id": "maniskill_PlugCharger_out_606", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_606/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_606/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_606/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.483, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_606", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 24, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_606.json" + } + }, + { + "id": "maniskill_PlugCharger_out_603", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_603/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_603/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_603/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.329, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.440, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_603", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 20, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_603.json" + } + }, + { + "id": "maniskill_PlugCharger_out_986", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_986/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_986/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_986/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.502, 0.566]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 80 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_986", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 25, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_986.json" + } + }, + { + "id": "maniskill_PlugCharger_out_966", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_966/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_966/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_966/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.318, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.445, 0.382]). The trajectory involves 76 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_966", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 24, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_966.json" + } + }, + { + "id": "maniskill_PlugCharger_out_541", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_541/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_541/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_541/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.221, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.400, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_541", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 28, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_541.json" + } + }, + { + "id": "maniskill_PlugCharger_out_353", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_353/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_353/frame_0143.jpg", + "maniskill/PlugCharger/images/episode_353/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.264, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_353", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 35, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_353.json" + } + }, + { + "id": "maniskill_PlugCharger_out_280", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_280/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_280/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_280/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.294, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.454, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_280", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_280.json" + } + }, + { + "id": "maniskill_PlugCharger_out_566", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_566/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_566/frame_0140.jpg", + "maniskill/PlugCharger/images/episode_566/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.387, 0.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_566", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 28, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_566.json" + } + }, + { + "id": "maniskill_PlugCharger_out_840", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_840/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_840/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_840/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.386, 0.552]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.404, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_840", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 27, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_840.json" + } + }, + { + "id": "maniskill_PlugCharger_out_414", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_414/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_414/frame_0175.jpg", + "maniskill/PlugCharger/images/episode_414/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.232, 0.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.382]). The trajectory involves 126 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_414", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 66, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_414.json" + } + }, + { + "id": "maniskill_PlugCharger_out_943", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_943/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_943/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_943/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.310, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.493, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_943", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_943.json" + } + }, + { + "id": "maniskill_PlugCharger_out_811", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_811/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_811/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_811/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.243, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.441, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_811", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 26, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_811.json" + } + }, + { + "id": "maniskill_PlugCharger_out_221", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_221/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_221/frame_0147.jpg", + "maniskill/PlugCharger/images/episode_221/frame_0203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.324, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.530, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_221", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 50, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_221.json" + } + }, + { + "id": "maniskill_PlugCharger_out_231", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_231/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_231/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_231/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.276, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.380]). The trajectory involves 73 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_231", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 24, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_231.json" + } + }, + { + "id": "maniskill_PlugCharger_out_275", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_275/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_275/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_275/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.293, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.404, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_275", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 24, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_275.json" + } + }, + { + "id": "maniskill_PlugCharger_out_165", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_165/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_165/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_165/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.251, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_165", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 35, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_165.json" + } + }, + { + "id": "maniskill_PlugCharger_out_571", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_571/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_571/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_571/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.344, 0.554]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.474, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_571", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 22, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_571.json" + } + }, + { + "id": "maniskill_PlugCharger_out_682", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_682/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_682/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_682/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.341, 0.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_682", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 28, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_682.json" + } + }, + { + "id": "maniskill_PlugCharger_out_87", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_87/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_87/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_87/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.415, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_87", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 30, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_87.json" + } + }, + { + "id": "maniskill_PlugCharger_out_677", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_677/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_677/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_677/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.382, 0.548]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.411, 0.382]). The trajectory involves 88 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_677", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 28, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_677.json" + } + }, + { + "id": "maniskill_PlugCharger_out_455", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_455/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_455/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_455/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.327, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.399, 0.382]). The trajectory involves 91 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_455", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 28, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_455.json" + } + }, + { + "id": "maniskill_PlugCharger_out_9", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_9/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_9/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_9/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.533, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.461, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_9", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 26, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_9.json" + } + }, + { + "id": "maniskill_PlugCharger_out_509", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_509/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_509/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_509/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.474, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.436, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_509", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 20, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_509.json" + } + }, + { + "id": "maniskill_PlugCharger_out_658", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_658/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_658/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_658/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.493, 0.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.501, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_658", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 28, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_658.json" + } + }, + { + "id": "maniskill_PlugCharger_out_35", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_35/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_35/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_35/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.285, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_35", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 23, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_35.json" + } + }, + { + "id": "maniskill_PlugCharger_out_495", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_495/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_495/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_495/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.221, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.540, 0.380]). The trajectory involves 95 precise waypoints with total movement distance of 0.351." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_495", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 43, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_495.json" + } + }, + { + "id": "maniskill_PlugCharger_out_237", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_237/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_237/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_237/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.282, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.382, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_237", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 21, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_237.json" + } + }, + { + "id": "maniskill_PlugCharger_out_304", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_304/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_304/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_304/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.437, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.480, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_304", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 27, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_304.json" + } + }, + { + "id": "maniskill_PlugCharger_out_384", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_384/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_384/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_384/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.267, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.388, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_384", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_384.json" + } + }, + { + "id": "maniskill_PlugCharger_out_363", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_363/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_363/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_363/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.498, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.380, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.328." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_363", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 25, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_363.json" + } + }, + { + "id": "maniskill_PlugCharger_out_544", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_544/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_544/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_544/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.335, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.355, 0.382]). The trajectory involves 69 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_544", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_544.json" + } + }, + { + "id": "maniskill_PlugCharger_out_539", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_539/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_539/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_539/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.299, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.396, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_539", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 28, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_539.json" + } + }, + { + "id": "maniskill_PlugCharger_out_371", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_371/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_371/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_371/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.268, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.451, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_371", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 34, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_371.json" + } + }, + { + "id": "maniskill_PlugCharger_out_282", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_282/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_282/frame_0143.jpg", + "maniskill/PlugCharger/images/episode_282/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.289, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.486, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_282", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 45, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_282.json" + } + }, + { + "id": "maniskill_PlugCharger_out_181", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_181/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_181/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_181/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.249, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.396, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_181", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_181.json" + } + }, + { + "id": "maniskill_PlugCharger_out_833", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_833/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_833/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_833/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.386, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.552, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_833", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 29, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_833.json" + } + }, + { + "id": "maniskill_PlugCharger_out_264", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_264/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_264/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_264/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.308, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.402, 0.380]). The trajectory involves 75 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_264", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_264.json" + } + }, + { + "id": "maniskill_PlugCharger_out_147", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_147/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_147/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_147/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.408, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_147", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_147.json" + } + }, + { + "id": "maniskill_PlugCharger_out_870", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_870/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_870/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_870/frame_0187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.283, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.486, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_870", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 29, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_870.json" + } + }, + { + "id": "maniskill_PlugCharger_out_167", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_167/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_167/frame_0138.jpg", + "maniskill/PlugCharger/images/episode_167/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.403, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_167", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 27, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_167.json" + } + }, + { + "id": "maniskill_PlugCharger_out_874", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_874/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_874/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_874/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.568, 0.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.414, 0.382]). The trajectory involves 106 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_874", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 26, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_874.json" + } + }, + { + "id": "maniskill_PlugCharger_out_134", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_134/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_134/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_134/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.287, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.372, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_134", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 27, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_134.json" + } + }, + { + "id": "maniskill_PlugCharger_out_867", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_867/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_867/frame_0133.jpg", + "maniskill/PlugCharger/images/episode_867/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.263, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.365, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_867", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 29, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_867.json" + } + }, + { + "id": "maniskill_PlugCharger_out_247", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_247/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_247/frame_0111.jpg", + "maniskill/PlugCharger/images/episode_247/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.420, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.390, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_247", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 28, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_247.json" + } + }, + { + "id": "maniskill_PlugCharger_out_698", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_698/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_698/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_698/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.456, 0.598]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.382]). The trajectory involves 75 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_698", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 21, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_698.json" + } + }, + { + "id": "maniskill_PlugCharger_out_952", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_952/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_952/frame_0146.jpg", + "maniskill/PlugCharger/images/episode_952/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.400, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.450, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_952", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 27, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_952.json" + } + }, + { + "id": "maniskill_PlugCharger_out_847", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_847/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_847/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_847/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.255, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_847", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 29, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_847.json" + } + }, + { + "id": "maniskill_PlugCharger_out_278", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_278/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_278/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_278/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.367, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.468, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_278", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 28, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_278.json" + } + }, + { + "id": "maniskill_PlugCharger_out_175", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_175/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_175/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_175/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.278, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.370, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_175", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 28, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_175.json" + } + }, + { + "id": "maniskill_PlugCharger_out_868", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_868/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_868/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_868/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.310, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.382]). The trajectory involves 84 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_868", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_868.json" + } + }, + { + "id": "maniskill_PlugCharger_out_305", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_305/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_305/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_305/frame_0187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.321, 0.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_305", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 29, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_305.json" + } + }, + { + "id": "maniskill_PlugCharger_out_49", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_49/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_49/frame_0131.jpg", + "maniskill/PlugCharger/images/episode_49/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.413, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.433, 0.382]). The trajectory involves 104 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_49", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 27, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_49.json" + } + }, + { + "id": "maniskill_PlugCharger_out_580", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_580/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_580/frame_0208.jpg", + "maniskill/PlugCharger/images/episode_580/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.359, 0.382]). The trajectory involves 117 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_580", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 103, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_580.json" + } + }, + { + "id": "maniskill_PlugCharger_out_773", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_773/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_773/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_773/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.493, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.419, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_773", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 26, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_773.json" + } + }, + { + "id": "maniskill_PlugCharger_out_349", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_349/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_349/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_349/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.332, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_349", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 29, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_349.json" + } + }, + { + "id": "maniskill_PlugCharger_out_570", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_570/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_570/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_570/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.399, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.425, 0.381]). The trajectory involves 95 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_570", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_570.json" + } + }, + { + "id": "maniskill_PlugCharger_out_486", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_486/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_486/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_486/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.395, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_486", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 26, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_486.json" + } + }, + { + "id": "maniskill_PlugCharger_out_857", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_857/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_857/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_857/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.382]). The trajectory involves 65 precise waypoints with total movement distance of 0.298." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_857", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 17, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_857.json" + } + }, + { + "id": "maniskill_PlugCharger_out_555", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_555/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_555/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_555/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.512, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_555", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 36, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_555.json" + } + }, + { + "id": "maniskill_PlugCharger_out_419", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_419/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_419/frame_0123.jpg", + "maniskill/PlugCharger/images/episode_419/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.415, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_419", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 27, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_419.json" + } + }, + { + "id": "maniskill_PlugCharger_out_919", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_919/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_919/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_919/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.491, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.354, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.303." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_919", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 24, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_919.json" + } + }, + { + "id": "maniskill_PlugCharger_out_441", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_441/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_441/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_441/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.477, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.509, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_441", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 28, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_441.json" + } + }, + { + "id": "maniskill_PlugCharger_out_96", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_96/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_96/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_96/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.295, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.464, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_96", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 29, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_96.json" + } + }, + { + "id": "maniskill_PlugCharger_out_277", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_277/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_277/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_277/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.435, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.374, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_277", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 26, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_277.json" + } + }, + { + "id": "maniskill_PlugCharger_out_43", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_43/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_43/frame_0125.jpg", + "maniskill/PlugCharger/images/episode_43/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.305, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.418, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_43", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 28, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_43.json" + } + }, + { + "id": "maniskill_PlugCharger_out_794", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_794/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_794/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_794/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.374, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.417, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_794", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 27, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_794.json" + } + }, + { + "id": "maniskill_PlugCharger_out_546", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_546/frame_0083.jpg", + "maniskill/PlugCharger/images/episode_546/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_546/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.218, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.486, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.306." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_546", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 31, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_546.json" + } + }, + { + "id": "maniskill_PlugCharger_out_190", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_190/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_190/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_190/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.567, 0.600]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.523, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_190", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_190.json" + } + }, + { + "id": "maniskill_PlugCharger_out_980", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_980/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_980/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_980/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.574, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.383, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_980", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 26, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_980.json" + } + }, + { + "id": "maniskill_PlugCharger_out_76", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_76/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_76/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_76/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.272, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.382]). The trajectory involves 79 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_76", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 25, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_76.json" + } + }, + { + "id": "maniskill_PlugCharger_out_746", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_746/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_746/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_746/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.392, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.516, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_746", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_746.json" + } + }, + { + "id": "maniskill_PlugCharger_out_928", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_928/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_928/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_928/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.416, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.455, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_928", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 22, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_928.json" + } + }, + { + "id": "maniskill_PlugCharger_out_355", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_355/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_355/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_355/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.310, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.405, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_355", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 28, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_355.json" + } + }, + { + "id": "maniskill_PlugCharger_out_253", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_253/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_253/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_253/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.281, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.426, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_253", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 29, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_253.json" + } + }, + { + "id": "maniskill_PlugCharger_out_608", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_608/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_608/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_608/frame_0211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.369, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.461, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_608", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 28, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_608.json" + } + }, + { + "id": "maniskill_PlugCharger_out_696", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_696/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_696/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_696/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.269, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.413, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_696", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 19, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_696.json" + } + }, + { + "id": "maniskill_PlugCharger_out_330", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_330/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_330/frame_0166.jpg", + "maniskill/PlugCharger/images/episode_330/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.265, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.425, 0.382]). The trajectory involves 128 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_330", + "trajectory_length": 128, + "key_frame_indices": [ + 0, + 64, + 127 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_330.json" + } + }, + { + "id": "maniskill_PlugCharger_out_266", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_266/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_266/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_266/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.332, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_266", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 28, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_266.json" + } + }, + { + "id": "maniskill_PlugCharger_out_68", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_68/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_68/frame_0158.jpg", + "maniskill/PlugCharger/images/episode_68/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.241, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.432, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_68", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 44, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_68.json" + } + }, + { + "id": "maniskill_PlugCharger_out_236", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_236/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_236/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_236/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.542, 0.580]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.448, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_236", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_236.json" + } + }, + { + "id": "maniskill_PlugCharger_out_313", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_313/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_313/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_313/frame_0203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.393, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.427, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_313", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 27, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_313.json" + } + }, + { + "id": "maniskill_PlugCharger_out_786", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_786/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_786/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_786/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.314, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.398, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_786", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 26, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_786.json" + } + }, + { + "id": "maniskill_PlugCharger_out_657", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_657/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_657/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_657/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.411, 0.554]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.426, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_657", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 22, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_657.json" + } + }, + { + "id": "maniskill_PlugCharger_out_440", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_440/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_440/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_440/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.289, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.368, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_440", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_440.json" + } + }, + { + "id": "maniskill_PlugCharger_out_137", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_137/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_137/frame_0154.jpg", + "maniskill/PlugCharger/images/episode_137/frame_0240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.286, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 129 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_137", + "trajectory_length": 129, + "key_frame_indices": [ + 0, + 42, + 128 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_137.json" + } + }, + { + "id": "maniskill_PlugCharger_out_819", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_819/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_819/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_819/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.471, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_819", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 28, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_819.json" + } + }, + { + "id": "maniskill_PlugCharger_out_532", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_532/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_532/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_532/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.364, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_532", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 28, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_532.json" + } + }, + { + "id": "maniskill_PlugCharger_out_787", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_787/frame_0075.jpg", + "maniskill/PlugCharger/images/episode_787/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_787/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.528, 0.599]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.362, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.329." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_787", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_787.json" + } + }, + { + "id": "maniskill_PlugCharger_out_21", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_21/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_21/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_21/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.283, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.431, 0.382]). The trajectory involves 67 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_21", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 21, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_21.json" + } + }, + { + "id": "maniskill_PlugCharger_out_910", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_910/frame_0084.jpg", + "maniskill/PlugCharger/images/episode_910/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_910/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.498, 0.568]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.535, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_910", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 26, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_910.json" + } + }, + { + "id": "maniskill_PlugCharger_out_120", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_120/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_120/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_120/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.370, 0.529]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.414, 0.382]). The trajectory involves 94 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_120", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 27, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_120.json" + } + }, + { + "id": "maniskill_PlugCharger_out_950", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_950/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_950/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_950/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.296, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.486, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_950", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 28, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_950.json" + } + }, + { + "id": "maniskill_PlugCharger_out_438", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_438/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_438/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_438/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.394, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.442, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_438", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 26, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_438.json" + } + }, + { + "id": "maniskill_PlugCharger_out_991", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_991/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_991/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_991/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.395, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.453, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_991", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_991.json" + } + }, + { + "id": "maniskill_PlugCharger_out_704", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_704/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_704/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_704/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.524, 0.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_704", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 25, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_704.json" + } + }, + { + "id": "maniskill_PlugCharger_out_935", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_935/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_935/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_935/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.326, 0.522]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.453, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_935", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 27, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_935.json" + } + }, + { + "id": "maniskill_PlugCharger_out_70", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_70/frame_0089.jpg", + "maniskill/PlugCharger/images/episode_70/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_70/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.346, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.371, 0.382]). The trajectory involves 60 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_70", + "trajectory_length": 60, + "key_frame_indices": [ + 0, + 13, + 59 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_70.json" + } + }, + { + "id": "maniskill_PlugCharger_out_149", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_149/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_149/frame_0142.jpg", + "maniskill/PlugCharger/images/episode_149/frame_0204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.269, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.528, 0.382]). The trajectory involves 111 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_149", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 48, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_149.json" + } + }, + { + "id": "maniskill_PlugCharger_out_537", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_537/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_537/frame_0135.jpg", + "maniskill/PlugCharger/images/episode_537/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.315, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.447, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_537", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 27, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_537.json" + } + }, + { + "id": "maniskill_PlugCharger_out_625", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_625/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_625/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_625/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.328, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.444, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_625", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 28, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_625.json" + } + }, + { + "id": "maniskill_PlugCharger_out_491", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_491/frame_0077.jpg", + "maniskill/PlugCharger/images/episode_491/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_491/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.494, 0.593]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.458, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_491", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 22, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_491.json" + } + }, + { + "id": "maniskill_PlugCharger_out_974", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_974/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_974/frame_0147.jpg", + "maniskill/PlugCharger/images/episode_974/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.252, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.382, 0.382]). The trajectory involves 114 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_974", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 30, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_974.json" + } + }, + { + "id": "maniskill_PlugCharger_out_260", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_260/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_260/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_260/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.482, 0.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.457, 0.382]). The trajectory involves 105 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_260", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 26, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_260.json" + } + }, + { + "id": "maniskill_PlugCharger_out_130", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_130/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_130/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_130/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.409, 0.574]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.427, 0.381]). The trajectory involves 78 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_130", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 24, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_130.json" + } + }, + { + "id": "maniskill_PlugCharger_out_913", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_913/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_913/frame_0126.jpg", + "maniskill/PlugCharger/images/episode_913/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.304, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.382]). The trajectory involves 98 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_913", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 28, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_913.json" + } + }, + { + "id": "maniskill_PlugCharger_out_876", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_876/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_876/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_876/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.316, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.517, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_876", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 29, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_876.json" + } + }, + { + "id": "maniskill_PlugCharger_out_102", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_102/frame_0113.jpg", + "maniskill/PlugCharger/images/episode_102/frame_0225.jpg", + "maniskill/PlugCharger/images/episode_102/frame_0235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.253, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.366, 0.382]). The trajectory involves 123 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_102", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 112, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_102.json" + } + }, + { + "id": "maniskill_PlugCharger_out_437", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_437/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_437/frame_0179.jpg", + "maniskill/PlugCharger/images/episode_437/frame_0244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.276, 0.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.497, 0.382]). The trajectory involves 135 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_437", + "trajectory_length": 135, + "key_frame_indices": [ + 0, + 69, + 134 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_437.json" + } + }, + { + "id": "maniskill_PlugCharger_out_25", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_25/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_25/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_25/frame_0206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.258, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_25", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 29, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_25.json" + } + }, + { + "id": "maniskill_PlugCharger_out_66", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_66/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_66/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_66/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.316, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.433, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_66", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 26, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_66.json" + } + }, + { + "id": "maniskill_PlugCharger_out_335", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_335/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_335/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_335/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.329, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.407, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_335", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 27, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_335.json" + } + }, + { + "id": "maniskill_PlugCharger_out_111", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_111/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_111/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_111/frame_0212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.303, 0.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.458, 0.382]). The trajectory involves 107 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_111", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 30, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_111.json" + } + }, + { + "id": "maniskill_PlugCharger_out_426", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_426/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_426/frame_0136.jpg", + "maniskill/PlugCharger/images/episode_426/frame_0204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.448, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_426", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 27, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_426.json" + } + }, + { + "id": "maniskill_PlugCharger_out_36", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_36/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_36/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_36/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.442, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.484, 0.382]). The trajectory involves 95 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_36", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_36.json" + } + }, + { + "id": "maniskill_PlugCharger_out_204", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_204/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_204/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_204/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.295, 0.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 0.382]). The trajectory involves 102 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_204", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 29, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_204.json" + } + }, + { + "id": "maniskill_PlugCharger_out_213", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_213/frame_0087.jpg", + "maniskill/PlugCharger/images/episode_213/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_213/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.271, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.468, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.259." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_213", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 33, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_213.json" + } + }, + { + "id": "maniskill_PlugCharger_out_591", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_591/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_591/frame_0119.jpg", + "maniskill/PlugCharger/images/episode_591/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.270, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.443, 0.382]). The trajectory involves 74 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_591", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 19, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_591.json" + } + }, + { + "id": "maniskill_PlugCharger_out_744", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_744/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_744/frame_0166.jpg", + "maniskill/PlugCharger/images/episode_744/frame_0229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.254, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 0.382]). The trajectory involves 128 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_744", + "trajectory_length": 128, + "key_frame_indices": [ + 0, + 64, + 127 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_744.json" + } + }, + { + "id": "maniskill_PlugCharger_out_98", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_98/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_98/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_98/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.337, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.386, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_98", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_98.json" + } + }, + { + "id": "maniskill_PlugCharger_out_262", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_262/frame_0086.jpg", + "maniskill/PlugCharger/images/episode_262/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_262/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.323, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_262", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 29, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_262.json" + } + }, + { + "id": "maniskill_PlugCharger_out_267", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_267/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_267/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_267/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.281, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.412, 0.382]). The trajectory involves 88 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_267", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 27, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_267.json" + } + }, + { + "id": "maniskill_PlugCharger_out_244", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_244/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_244/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_244/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.322, 0.514]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.354, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_244", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 28, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_244.json" + } + }, + { + "id": "maniskill_PlugCharger_out_311", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_311/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_311/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_311/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.408, 0.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.481, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_311", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 29, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_311.json" + } + }, + { + "id": "maniskill_PlugCharger_out_937", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_937/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_937/frame_0127.jpg", + "maniskill/PlugCharger/images/episode_937/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.255, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.406, 0.382]). The trajectory involves 97 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_937", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 29, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_937.json" + } + }, + { + "id": "maniskill_PlugCharger_out_17", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_17/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_17/frame_0134.jpg", + "maniskill/PlugCharger/images/episode_17/frame_0230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.394, 0.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.380, 0.382]). The trajectory involves 125 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_17", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 28, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_17.json" + } + }, + { + "id": "maniskill_PlugCharger_out_981", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_981/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_981/frame_0176.jpg", + "maniskill/PlugCharger/images/episode_981/frame_0239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.233, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.533, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_981", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 55, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_981.json" + } + }, + { + "id": "maniskill_PlugCharger_out_730", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_730/frame_0096.jpg", + "maniskill/PlugCharger/images/episode_730/frame_0124.jpg", + "maniskill/PlugCharger/images/episode_730/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.292, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.394, 0.382]). The trajectory involves 89 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_730", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 28, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_730.json" + } + }, + { + "id": "maniskill_PlugCharger_out_618", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_618/frame_0093.jpg", + "maniskill/PlugCharger/images/episode_618/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_618/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.336, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.409, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_618", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_618.json" + } + }, + { + "id": "maniskill_PlugCharger_out_306", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_306/frame_0112.jpg", + "maniskill/PlugCharger/images/episode_306/frame_0139.jpg", + "maniskill/PlugCharger/images/episode_306/frame_0225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.489, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.382]). The trajectory involves 114 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_306", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 27, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_306.json" + } + }, + { + "id": "maniskill_PlugCharger_out_630", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_630/frame_0085.jpg", + "maniskill/PlugCharger/images/episode_630/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_630/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.459, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.485, 0.382]). The trajectory involves 72 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_630", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_630.json" + } + }, + { + "id": "maniskill_PlugCharger_out_687", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_687/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_687/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_687/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.355, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.392, 0.382]). The trajectory involves 86 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_687", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 25, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_687.json" + } + }, + { + "id": "maniskill_PlugCharger_out_402", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_402/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_402/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_402/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.421, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.465, 0.382]). The trajectory involves 100 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_402", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 27, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_402.json" + } + }, + { + "id": "maniskill_PlugCharger_out_750", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_750/frame_0088.jpg", + "maniskill/PlugCharger/images/episode_750/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_750/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.384, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.493, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_750", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 28, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_750.json" + } + }, + { + "id": "maniskill_PlugCharger_out_325", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_325/frame_0101.jpg", + "maniskill/PlugCharger/images/episode_325/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_325/frame_0219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.387, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.400, 0.382]). The trajectory involves 119 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_325", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 28, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_325.json" + } + }, + { + "id": "maniskill_PlugCharger_out_531", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_531/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_531/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_531/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.372, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.424, 0.382]). The trajectory involves 108 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_531", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 28, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_531.json" + } + }, + { + "id": "maniskill_PlugCharger_out_869", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_869/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_869/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_869/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.427, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.452, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_869", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 27, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_869.json" + } + }, + { + "id": "maniskill_PlugCharger_out_957", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_957/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_957/frame_0177.jpg", + "maniskill/PlugCharger/images/episode_957/frame_0236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.266, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.537, 0.382]). The trajectory involves 127 precise waypoints with total movement distance of 0.330." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_957", + "trajectory_length": 127, + "key_frame_indices": [ + 0, + 67, + 126 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_957.json" + } + }, + { + "id": "maniskill_PlugCharger_out_256", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_256/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_256/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_256/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.239, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_256", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 21, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_256.json" + } + }, + { + "id": "maniskill_PlugCharger_out_858", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_858/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_858/frame_0161.jpg", + "maniskill/PlugCharger/images/episode_858/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.242, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.477, 0.382]). The trajectory involves 122 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_858", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 55, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_858.json" + } + }, + { + "id": "maniskill_PlugCharger_out_169", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_169/frame_0080.jpg", + "maniskill/PlugCharger/images/episode_169/frame_0103.jpg", + "maniskill/PlugCharger/images/episode_169/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.321, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.463, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_169", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_169.json" + } + }, + { + "id": "maniskill_PlugCharger_out_626", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_626/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_626/frame_0129.jpg", + "maniskill/PlugCharger/images/episode_626/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.270, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.485, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_626", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 37, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_626.json" + } + }, + { + "id": "maniskill_PlugCharger_out_917", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_917/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_917/frame_0122.jpg", + "maniskill/PlugCharger/images/episode_917/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.486, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.389, 0.382]). The trajectory involves 122 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_917", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 27, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_917.json" + } + }, + { + "id": "maniskill_PlugCharger_out_517", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_517/frame_0081.jpg", + "maniskill/PlugCharger/images/episode_517/frame_0109.jpg", + "maniskill/PlugCharger/images/episode_517/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.462, 0.548]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.528, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_517", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_517.json" + } + }, + { + "id": "maniskill_PlugCharger_out_319", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_319/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_319/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_319/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.417, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.403, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_319", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 27, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_319.json" + } + }, + { + "id": "maniskill_PlugCharger_out_464", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_464/frame_0102.jpg", + "maniskill/PlugCharger/images/episode_464/frame_0130.jpg", + "maniskill/PlugCharger/images/episode_464/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.302, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.438, 0.382]). The trajectory involves 83 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_464", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 28, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_464.json" + } + }, + { + "id": "maniskill_PlugCharger_out_312", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_312/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_312/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_312/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.275, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.378, 0.382]). The trajectory involves 93 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_312", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 29, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_312.json" + } + }, + { + "id": "maniskill_PlugCharger_out_550", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_550/frame_0091.jpg", + "maniskill/PlugCharger/images/episode_550/frame_0117.jpg", + "maniskill/PlugCharger/images/episode_550/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.441, 0.553]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.427, 0.382]). The trajectory involves 82 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_550", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 26, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_550.json" + } + }, + { + "id": "maniskill_PlugCharger_out_171", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_171/frame_0114.jpg", + "maniskill/PlugCharger/images/episode_171/frame_0142.jpg", + "maniskill/PlugCharger/images/episode_171/frame_0223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.455, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 0.382]). The trajectory involves 110 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_171", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 28, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_171.json" + } + }, + { + "id": "maniskill_PlugCharger_out_956", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_956/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_956/frame_0106.jpg", + "maniskill/PlugCharger/images/episode_956/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.284, 0.519]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.439, 0.382]). The trajectory involves 87 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_956", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 28, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_956.json" + } + }, + { + "id": "maniskill_PlugCharger_out_915", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_915/frame_0079.jpg", + "maniskill/PlugCharger/images/episode_915/frame_0107.jpg", + "maniskill/PlugCharger/images/episode_915/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.333, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.456, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_915", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_915.json" + } + }, + { + "id": "maniskill_PlugCharger_out_308", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_308/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_308/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_308/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.315, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.474, 0.382]). The trajectory involves 85 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_308", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 26, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_308.json" + } + }, + { + "id": "maniskill_PlugCharger_out_816", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_816/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_816/frame_0097.jpg", + "maniskill/PlugCharger/images/episode_816/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.512, 0.619]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.439, 0.382]). The trajectory involves 71 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_816", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 21, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_816.json" + } + }, + { + "id": "maniskill_PlugCharger_out_75", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_75/frame_0105.jpg", + "maniskill/PlugCharger/images/episode_75/frame_0132.jpg", + "maniskill/PlugCharger/images/episode_75/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.456, 0.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 0.382]). The trajectory involves 103 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_75", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 27, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_75.json" + } + }, + { + "id": "maniskill_PlugCharger_out_274", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_274/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_274/frame_0099.jpg", + "maniskill/PlugCharger/images/episode_274/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.306, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.441, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_274", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_274.json" + } + }, + { + "id": "maniskill_PlugCharger_out_610", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_610/frame_0090.jpg", + "maniskill/PlugCharger/images/episode_610/frame_0118.jpg", + "maniskill/PlugCharger/images/episode_610/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.327, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.506, 0.382]). The trajectory involves 90 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_610", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_610.json" + } + }, + { + "id": "maniskill_PlugCharger_out_13", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_13/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_13/frame_0098.jpg", + "maniskill/PlugCharger/images/episode_13/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.414, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.397, 0.382]). The trajectory involves 68 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_13", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 20, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_13.json" + } + }, + { + "id": "maniskill_PlugCharger_out_538", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_538/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_538/frame_0110.jpg", + "maniskill/PlugCharger/images/episode_538/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.338, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.356, 0.382]). The trajectory involves 92 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_538", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_538.json" + } + }, + { + "id": "maniskill_PlugCharger_out_884", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_884/frame_0076.jpg", + "maniskill/PlugCharger/images/episode_884/frame_0100.jpg", + "maniskill/PlugCharger/images/episode_884/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.262, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.468, 0.382]). The trajectory involves 77 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_884", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 24, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_884.json" + } + }, + { + "id": "maniskill_PlugCharger_out_485", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_485/frame_0094.jpg", + "maniskill/PlugCharger/images/episode_485/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_485/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.402, 0.563]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.410, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_485", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 27, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_485.json" + } + }, + { + "id": "maniskill_PlugCharger_out_501", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_501/frame_0115.jpg", + "maniskill/PlugCharger/images/episode_501/frame_0171.jpg", + "maniskill/PlugCharger/images/episode_501/frame_0228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.289, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 0.382]). The trajectory involves 114 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_501", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 56, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_501.json" + } + }, + { + "id": "maniskill_PlugCharger_out_336", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_336/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_336/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_336/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.347, 0.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 0.382]). The trajectory involves 101 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_336", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 28, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_336.json" + } + }, + { + "id": "maniskill_PlugCharger_out_160", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_160/frame_0092.jpg", + "maniskill/PlugCharger/images/episode_160/frame_0121.jpg", + "maniskill/PlugCharger/images/episode_160/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.375, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.501, 0.382]). The trajectory involves 99 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_160", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 29, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_160.json" + } + }, + { + "id": "maniskill_PlugCharger_out_406", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_406/frame_0095.jpg", + "maniskill/PlugCharger/images/episode_406/frame_0120.jpg", + "maniskill/PlugCharger/images/episode_406/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.255, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.422, 0.380]). The trajectory involves 76 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_406", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 25, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_406.json" + } + }, + { + "id": "maniskill_PlugCharger_out_395", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_395/frame_0116.jpg", + "maniskill/PlugCharger/images/episode_395/frame_0143.jpg", + "maniskill/PlugCharger/images/episode_395/frame_0227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.527, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.367, 0.382]). The trajectory involves 112 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_395", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 27, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_395.json" + } + }, + { + "id": "maniskill_PlugCharger_out_761", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_761/frame_0078.jpg", + "maniskill/PlugCharger/images/episode_761/frame_0104.jpg", + "maniskill/PlugCharger/images/episode_761/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.314, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.469, 0.382]). The trajectory involves 78 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_761", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 26, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_761.json" + } + }, + { + "id": "maniskill_PlugCharger_out_777", + "task": "Pick up the charger and insert it into the slot.", + "selected_step": 1, + "image": [ + "maniskill/PlugCharger/images/episode_777/frame_0082.jpg", + "maniskill/PlugCharger/images/episode_777/frame_0108.jpg", + "maniskill/PlugCharger/images/episode_777/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up the charger and insert it into the slot.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up the charger and insert it into the slot., execute the following phases: 1) Initial approach phase (start at [0.487, 0.574]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.440, 0.382]). The trajectory involves 96 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PlugCharger", + "episode_id": "out_777", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 26, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PlugCharger/label/out_777.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_449", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_449/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_449/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_449/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.298, 0.617]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.621, 0.495]). The trajectory involves 61 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_449", + "trajectory_length": 61, + "key_frame_indices": [ + 0, + 20, + 60 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_449.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_899", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_899/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_899/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_899/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.230, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.712, 0.531]). The trajectory involves 103 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_899", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 28, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_899.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_916", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_916/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_916/frame_0173.jpg", + "maniskill/PegInsertionSide/images/episode_916/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.751, 0.413]). The trajectory involves 117 precise waypoints with total movement distance of 0.573." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_916", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 109, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_916.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_902", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_902/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_902/frame_0172.jpg", + "maniskill/PegInsertionSide/images/episode_902/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.342, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.378]). The trajectory involves 117 precise waypoints with total movement distance of 0.427." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_902", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 107, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_902.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_708", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_708/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_708/frame_0125.jpg", + "maniskill/PegInsertionSide/images/episode_708/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.424]). The trajectory involves 81 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_708", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 71, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_708.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_168", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_168/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_168/frame_0136.jpg", + "maniskill/PegInsertionSide/images/episode_168/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.223, 0.593]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.538, 0.349]). The trajectory involves 97 precise waypoints with total movement distance of 0.513." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_168", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 85, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_168.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_334", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_334/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_334/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_334/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.272, 0.597]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.623, 0.401]). The trajectory involves 84 precise waypoints with total movement distance of 0.461." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_334", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_334.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_904", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_904/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_904/frame_0112.jpg", + "maniskill/PegInsertionSide/images/episode_904/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.357, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.510, 0.392]). The trajectory involves 76 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_904", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 65, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_904.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_356", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_356/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_356/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_356/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.574, 0.416]). The trajectory involves 88 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_356", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 28, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_356.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_432", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_432/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_432/frame_0101.jpg", + "maniskill/PegInsertionSide/images/episode_432/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.192, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.381]). The trajectory involves 135 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_432", + "trajectory_length": 135, + "key_frame_indices": [ + 0, + 40, + 134 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_432.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_875", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_875/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_875/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_875/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.308, 0.634]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.602, 0.345]). The trajectory involves 86 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_875", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_875.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_362", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_362/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_362/frame_0171.jpg", + "maniskill/PegInsertionSide/images/episode_362/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.336, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.699, 0.460]). The trajectory involves 116 precise waypoints with total movement distance of 0.445." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_362", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 105, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_362.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_315", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_315/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_315/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_315/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.522, 0.385]). The trajectory involves 78 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_315", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 66, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_315.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_633", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_633/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_633/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_633/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.305, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.729, 0.461]). The trajectory involves 106 precise waypoints with total movement distance of 0.490." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_633", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 93, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_633.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_369", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_369/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_369/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_369/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.659, 0.405]). The trajectory involves 92 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_369", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 83, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_369.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_27", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_27/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_27/frame_0168.jpg", + "maniskill/PegInsertionSide/images/episode_27/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.243, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.608, 0.390]). The trajectory involves 116 precise waypoints with total movement distance of 0.449." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_27", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 106, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_27.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_296", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_296/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_296/frame_0090.jpg", + "maniskill/PegInsertionSide/images/episode_296/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.083, 0.626]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.432]). The trajectory involves 93 precise waypoints with total movement distance of 0.577." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_296", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 30, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_296.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_873", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_873/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_873/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_873/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.214, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.584, 0.455]). The trajectory involves 74 precise waypoints with total movement distance of 0.394." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_873", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_873.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_235", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_235/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_235/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_235/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.667, 0.371]). The trajectory involves 76 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_235", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 22, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_235.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_249", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_249/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_249/frame_0132.jpg", + "maniskill/PegInsertionSide/images/episode_249/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.260, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.528, 0.402]). The trajectory involves 96 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_249", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 87, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_249.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_598", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_598/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_598/frame_0191.jpg", + "maniskill/PegInsertionSide/images/episode_598/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.301, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.381]). The trajectory involves 136 precise waypoints with total movement distance of 0.526." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_598", + "trajectory_length": 136, + "key_frame_indices": [ + 0, + 124, + 135 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_598.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_23", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_23/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_23/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_23/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.171, 0.606]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.706, 0.353]). The trajectory involves 86 precise waypoints with total movement distance of 0.683." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_23", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 26, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_23.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_307", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_307/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_307/frame_0197.jpg", + "maniskill/PegInsertionSide/images/episode_307/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.127, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.449]). The trajectory involves 130 precise waypoints with total movement distance of 0.519." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_307", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 119, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_307.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_16", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_16/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_16/frame_0189.jpg", + "maniskill/PegInsertionSide/images/episode_16/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.210, 0.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.374]). The trajectory involves 126 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_16", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 115, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_16.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_967", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_967/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_967/frame_0097.jpg", + "maniskill/PegInsertionSide/images/episode_967/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.096, 0.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.414]). The trajectory involves 118 precise waypoints with total movement distance of 0.636." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_967", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 41, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_967.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_15", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_15/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_15/frame_0185.jpg", + "maniskill/PegInsertionSide/images/episode_15/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.205, 0.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.383]). The trajectory involves 125 precise waypoints with total movement distance of 0.442." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_15", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 115, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_15.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_822", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_822/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_822/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_822/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.579, 0.404]). The trajectory involves 96 precise waypoints with total movement distance of 0.355." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_822", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 86, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_822.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_318", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_318/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_318/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_318/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.148, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.624, 0.409]). The trajectory involves 85 precise waypoints with total movement distance of 0.560." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_318", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 23, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_318.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_543", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_543/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_543/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_543/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.451]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.723, 0.463]). The trajectory involves 94 precise waypoints with total movement distance of 0.459." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_543", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 86, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_543.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_924", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_924/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_924/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_924/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.370, 0.471]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.731, 0.557]). The trajectory involves 94 precise waypoints with total movement distance of 0.446." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_924", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 85, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_924.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_800", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_800/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_800/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_800/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.182, 0.595]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.434]). The trajectory involves 98 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_800", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 32, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_800.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_210", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_210/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_210/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_210/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.294, 0.436]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.537, 0.393]). The trajectory involves 72 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_210", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 19, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_210.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_194", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_194/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_194/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_194/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.482]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.622, 0.460]). The trajectory involves 87 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_194", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 77, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_194.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_859", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_859/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_859/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_859/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.267, 0.634]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.653, 0.390]). The trajectory involves 84 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_859", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 29, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_859.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_507", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_507/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_507/frame_0181.jpg", + "maniskill/PegInsertionSide/images/episode_507/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.156, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.657, 0.440]). The trajectory involves 121 precise waypoints with total movement distance of 0.584." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_507", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 112, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_507.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_771", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_771/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_771/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_771/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.252, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.634, 0.432]). The trajectory involves 73 precise waypoints with total movement distance of 0.420." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_771", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_771.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_85", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_85/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_85/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_85/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.666, 0.413]). The trajectory involves 82 precise waypoints with total movement distance of 0.421." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_85", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 27, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_85.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_295", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_295/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_295/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_295/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.153, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.643, 0.508]). The trajectory involves 100 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_295", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 30, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_295.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_163", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_163/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_163/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_163/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.258, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.676, 0.461]). The trajectory involves 70 precise waypoints with total movement distance of 0.469." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_163", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 20, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_163.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_392", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_392/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_392/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_392/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.864, 0.448]). The trajectory involves 71 precise waypoints with total movement distance of 0.498." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_392", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 25, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_392.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_671", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_671/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_671/frame_0182.jpg", + "maniskill/PegInsertionSide/images/episode_671/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.213, 0.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.453]). The trajectory involves 121 precise waypoints with total movement distance of 0.494." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_671", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 112, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_671.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_407", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_407/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_407/frame_0098.jpg", + "maniskill/PegInsertionSide/images/episode_407/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.516, 0.487]). The trajectory involves 68 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_407", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 58, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_407.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_558", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_558/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_558/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_558/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.535, 0.511]). The trajectory involves 74 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_558", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 65, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_558.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_631", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_631/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_631/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_631/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.250, 0.478]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.816, 0.432]). The trajectory involves 83 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_631", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 31, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_631.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_243", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_243/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_243/frame_0161.jpg", + "maniskill/PegInsertionSide/images/episode_243/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.349, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.679, 0.323]). The trajectory involves 116 precise waypoints with total movement distance of 0.419." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_243", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 105, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_243.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_469", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_469/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_469/frame_0119.jpg", + "maniskill/PegInsertionSide/images/episode_469/frame_0205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.157, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.849, 0.452]). The trajectory involves 134 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_469", + "trajectory_length": 134, + "key_frame_indices": [ + 0, + 47, + 133 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_469.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_14", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_14/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_14/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_14/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.294, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.601, 0.465]). The trajectory involves 83 precise waypoints with total movement distance of 0.346." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_14", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 24, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_14.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_685", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_685/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_685/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_685/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.229, 0.449]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.677, 0.400]). The trajectory involves 81 precise waypoints with total movement distance of 0.497." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_685", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 24, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_685.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_878", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_878/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_878/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_878/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.624]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.678, 0.387]). The trajectory involves 78 precise waypoints with total movement distance of 0.438." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_878", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 25, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_878.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_463", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_463/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_463/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_463/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.532, 0.413]). The trajectory involves 79 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_463", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_463.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_568", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_568/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_568/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_568/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.588, 0.556]). The trajectory involves 74 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_568", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_568.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_198", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_198/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_198/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_198/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.667, 0.371]). The trajectory involves 76 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_198", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 22, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_198.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_770", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_770/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_770/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_770/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.239, 0.621]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.452]). The trajectory involves 82 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_770", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 25, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_770.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_513", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_513/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_513/frame_0112.jpg", + "maniskill/PegInsertionSide/images/episode_513/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.309, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.535, 0.427]). The trajectory involves 77 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_513", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 67, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_513.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_177", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_177/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_177/frame_0089.jpg", + "maniskill/PegInsertionSide/images/episode_177/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.120, 0.525]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.656, 0.462]). The trajectory involves 95 precise waypoints with total movement distance of 0.601." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_177", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 30, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_177.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_650", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_650/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_650/frame_0133.jpg", + "maniskill/PegInsertionSide/images/episode_650/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.356, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.681, 0.399]). The trajectory involves 100 precise waypoints with total movement distance of 0.451." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_650", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 90, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_650.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_412", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_412/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_412/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_412/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.304, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.657, 0.380]). The trajectory involves 85 precise waypoints with total movement distance of 0.394." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_412", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 23, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_412.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_192", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_192/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_192/frame_0129.jpg", + "maniskill/PegInsertionSide/images/episode_192/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.574, 0.445]). The trajectory involves 79 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_192", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_192.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_684", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_684/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_684/frame_0142.jpg", + "maniskill/PegInsertionSide/images/episode_684/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.229, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.613, 0.444]). The trajectory involves 95 precise waypoints with total movement distance of 0.452." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_684", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 84, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_684.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_358", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_358/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_358/frame_0179.jpg", + "maniskill/PegInsertionSide/images/episode_358/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.169, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.613, 0.471]). The trajectory involves 115 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_358", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 105, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_358.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_396", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_396/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_396/frame_0187.jpg", + "maniskill/PegInsertionSide/images/episode_396/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.393]). The trajectory involves 130 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_396", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 121, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_396.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_845", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_845/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_845/frame_0135.jpg", + "maniskill/PegInsertionSide/images/episode_845/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.276, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.532, 0.439]). The trajectory involves 90 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_845", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 80, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_845.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_105", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_105/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_105/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_105/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.657, 0.498]). The trajectory involves 77 precise waypoints with total movement distance of 0.399." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_105", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 21, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_105.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_40", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_40/frame_0036.jpg", + "maniskill/PegInsertionSide/images/episode_40/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_40/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.300, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.711, 0.531]). The trajectory involves 69 precise waypoints with total movement distance of 0.435." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_40", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 22, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_40.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_331", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_331/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_331/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_331/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.197, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.708, 0.435]). The trajectory involves 104 precise waypoints with total movement distance of 0.565." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_331", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 30, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_331.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_712", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_712/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_712/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_712/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.229, 0.449]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.677, 0.400]). The trajectory involves 81 precise waypoints with total movement distance of 0.497." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_712", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 24, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_712.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_423", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_423/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_423/frame_0192.jpg", + "maniskill/PegInsertionSide/images/episode_423/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.125, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.326]). The trajectory involves 130 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_423", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 120, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_423.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_717", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_717/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_717/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_717/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.638, 0.397]). The trajectory involves 88 precise waypoints with total movement distance of 0.338." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_717", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 79, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_717.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_619", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_619/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_619/frame_0175.jpg", + "maniskill/PegInsertionSide/images/episode_619/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.335, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.610, 0.430]). The trajectory involves 120 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_619", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 113, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_619.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_655", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_655/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_655/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_655/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.258, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.412]). The trajectory involves 101 precise waypoints with total movement distance of 0.472." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_655", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 30, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_655.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_83", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_83/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_83/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_83/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.129, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.713, 0.452]). The trajectory involves 95 precise waypoints with total movement distance of 0.654." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_83", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 29, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_83.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_242", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_242/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_242/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_242/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.258, 0.572]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.714, 0.526]). The trajectory involves 72 precise waypoints with total movement distance of 0.490." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_242", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_242.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_542", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_542/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_542/frame_0110.jpg", + "maniskill/PegInsertionSide/images/episode_542/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.194, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.443]). The trajectory involves 76 precise waypoints with total movement distance of 0.374." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_542", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 65, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_542.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_164", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_164/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_164/frame_0119.jpg", + "maniskill/PegInsertionSide/images/episode_164/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.290, 0.456]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.582, 0.401]). The trajectory involves 86 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_164", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 78, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_164.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_450", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_450/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_450/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_450/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.202, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.649, 0.371]). The trajectory involves 98 precise waypoints with total movement distance of 0.534." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_450", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 29, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_450.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_663", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_663/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_663/frame_0099.jpg", + "maniskill/PegInsertionSide/images/episode_663/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.181, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.784, 0.551]). The trajectory involves 112 precise waypoints with total movement distance of 0.718." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_663", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 37, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_663.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_374", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_374/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_374/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_374/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.616]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.651, 0.374]). The trajectory involves 78 precise waypoints with total movement distance of 0.457." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_374", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_374.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_159", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_159/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_159/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_159/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.278, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.749, 0.450]). The trajectory involves 78 precise waypoints with total movement distance of 0.544." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_159", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 26, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_159.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_271", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_271/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_271/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_271/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.367, 0.478]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.584, 0.382]). The trajectory involves 73 precise waypoints with total movement distance of 0.314." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_271", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 63, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_271.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_728", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_728/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_728/frame_0169.jpg", + "maniskill/PegInsertionSide/images/episode_728/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.258, 0.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.581, 0.495]). The trajectory involves 110 precise waypoints with total movement distance of 0.413." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_728", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 102, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_728.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_38", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_38/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_38/frame_0145.jpg", + "maniskill/PegInsertionSide/images/episode_38/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.336, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.620, 0.487]). The trajectory involves 90 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_38", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 80, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_38.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_316", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_316/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_316/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_316/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.444]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.646, 0.482]). The trajectory involves 77 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_316", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 67, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_316.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_64", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_64/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_64/frame_0182.jpg", + "maniskill/PegInsertionSide/images/episode_64/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.341, 0.586]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.702, 0.358]). The trajectory involves 136 precise waypoints with total movement distance of 0.550." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_64", + "trajectory_length": 136, + "key_frame_indices": [ + 0, + 123, + 135 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_64.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_206", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_206/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_206/frame_0159.jpg", + "maniskill/PegInsertionSide/images/episode_206/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.689, 0.396]). The trajectory involves 119 precise waypoints with total movement distance of 0.458." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_206", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 106, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_206.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_30", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_30/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_30/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_30/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.205, 0.474]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.514]). The trajectory involves 69 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_30", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_30.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_273", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_273/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_273/frame_0142.jpg", + "maniskill/PegInsertionSide/images/episode_273/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.180, 0.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.444]). The trajectory involves 102 precise waypoints with total movement distance of 0.573." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_273", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 92, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_273.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_881", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_881/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_881/frame_0176.jpg", + "maniskill/PegInsertionSide/images/episode_881/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.280, 0.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.355]). The trajectory involves 115 precise waypoints with total movement distance of 0.350." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_881", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 104, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_881.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_784", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_784/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_784/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_784/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.222, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.560, 0.433]). The trajectory involves 97 precise waypoints with total movement distance of 0.383." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_784", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 89, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_784.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_522", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_522/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_522/frame_0156.jpg", + "maniskill/PegInsertionSide/images/episode_522/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.541]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.509]). The trajectory involves 101 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_522", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 92, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_522.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_907", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_907/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_907/frame_0132.jpg", + "maniskill/PegInsertionSide/images/episode_907/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.353, 0.439]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.606, 0.542]). The trajectory involves 93 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_907", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 86, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_907.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_722", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_722/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_722/frame_0151.jpg", + "maniskill/PegInsertionSide/images/episode_722/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.632, 0.389]). The trajectory involves 100 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_722", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 89, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_722.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_574", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_574/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_574/frame_0184.jpg", + "maniskill/PegInsertionSide/images/episode_574/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.192, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.714, 0.441]). The trajectory involves 123 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_574", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 113, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_574.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_548", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_548/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_548/frame_0149.jpg", + "maniskill/PegInsertionSide/images/episode_548/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.289, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.563, 0.482]). The trajectory involves 93 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_548", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 84, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_548.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_216", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_216/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_216/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_216/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.280, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.630, 0.477]). The trajectory involves 86 precise waypoints with total movement distance of 0.419." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_216", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 23, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_216.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_798", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_798/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_798/frame_0153.jpg", + "maniskill/PegInsertionSide/images/episode_798/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.325, 0.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.474]). The trajectory involves 102 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_798", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 92, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_798.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_158", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_158/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_158/frame_0146.jpg", + "maniskill/PegInsertionSide/images/episode_158/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.307, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.640, 0.501]). The trajectory involves 105 precise waypoints with total movement distance of 0.407." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_158", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 96, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_158.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_661", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_661/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_661/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_661/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.322, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.610, 0.426]). The trajectory involves 79 precise waypoints with total movement distance of 0.358." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_661", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 23, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_661.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_736", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_736/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_736/frame_0121.jpg", + "maniskill/PegInsertionSide/images/episode_736/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.265, 0.583]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.527, 0.511]). The trajectory involves 82 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_736", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 72, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_736.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_575", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_575/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_575/frame_0122.jpg", + "maniskill/PegInsertionSide/images/episode_575/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.350, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.694, 0.545]). The trajectory involves 86 precise waypoints with total movement distance of 0.388." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_575", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 76, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_575.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_276", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_276/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_276/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_276/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.790, 0.429]). The trajectory involves 86 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_276", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_276.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_145", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_145/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_145/frame_0176.jpg", + "maniskill/PegInsertionSide/images/episode_145/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.265, 0.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.401]). The trajectory involves 106 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_145", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 95, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_145.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_297", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_297/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_297/frame_0092.jpg", + "maniskill/PegInsertionSide/images/episode_297/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.175, 0.632]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.625, 0.434]). The trajectory involves 97 precise waypoints with total movement distance of 0.541." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_297", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 33, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_297.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_193", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_193/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_193/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_193/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.314, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.388]). The trajectory involves 101 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_193", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 92, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_193.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_521", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_521/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_521/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_521/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.336]). The trajectory involves 73 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_521", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 61, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_521.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_545", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_545/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_545/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_545/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.190, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.632, 0.507]). The trajectory involves 91 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_545", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 29, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_545.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_84", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_84/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_84/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_84/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.193, 0.434]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.490]). The trajectory involves 82 precise waypoints with total movement distance of 0.460." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_84", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 28, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_84.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_807", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_807/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_807/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_807/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.311, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.736, 0.432]). The trajectory involves 70 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_807", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 21, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_807.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_892", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_892/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_892/frame_0113.jpg", + "maniskill/PegInsertionSide/images/episode_892/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.659, 0.469]). The trajectory involves 82 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_892", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 72, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_892.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_39", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_39/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_39/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_39/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.328, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.543, 0.464]). The trajectory involves 78 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_39", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 67, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_39.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_471", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_471/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_471/frame_0153.jpg", + "maniskill/PegInsertionSide/images/episode_471/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.304, 0.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.432]). The trajectory involves 105 precise waypoints with total movement distance of 0.379." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_471", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 95, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_471.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_257", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_257/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_257/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_257/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.270, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.679, 0.454]). The trajectory involves 85 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_257", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 25, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_257.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_55", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_55/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_55/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_55/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.165, 0.525]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.562, 0.391]). The trajectory involves 77 precise waypoints with total movement distance of 0.478." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_55", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 24, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_55.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_453", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_453/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_453/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_453/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.568, 0.439]). The trajectory involves 71 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_453", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 61, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_453.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_180", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_180/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_180/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_180/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.275, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.441]). The trajectory involves 68 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_180", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 18, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_180.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_680", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_680/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_680/frame_0141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.377, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.524]). The trajectory involves 82 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_680", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_680.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_176", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_176/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_176/frame_0126.jpg", + "maniskill/PegInsertionSide/images/episode_176/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.290, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.443]). The trajectory involves 83 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_176", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 73, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_176.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_945", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_945/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_945/frame_0135.jpg", + "maniskill/PegInsertionSide/images/episode_945/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.336, 0.528]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.628, 0.504]). The trajectory involves 91 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_945", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 81, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_945.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_314", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_314/frame_0086.jpg", + "maniskill/PegInsertionSide/images/episode_314/frame_0202.jpg", + "maniskill/PegInsertionSide/images/episode_314/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.185, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.422]). The trajectory involves 125 precise waypoints with total movement distance of 0.450." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_314", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 116, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_314.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_737", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_737/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_737/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_737/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.396, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.650, 0.330]). The trajectory involves 108 precise waypoints with total movement distance of 0.461." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_737", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 30, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_737.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_998", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_998/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_998/frame_0088.jpg", + "maniskill/PegInsertionSide/images/episode_998/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.300, 0.607]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.668, 0.427]). The trajectory involves 100 precise waypoints with total movement distance of 0.474." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_998", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 28, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_998.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_0", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_0/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_0/frame_0165.jpg", + "maniskill/PegInsertionSide/images/episode_0/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.224, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.607, 0.430]). The trajectory involves 115 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_0", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 106, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_0.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_329", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_329/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_329/frame_0092.jpg", + "maniskill/PegInsertionSide/images/episode_329/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.164, 0.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.603, 0.344]). The trajectory involves 108 precise waypoints with total movement distance of 0.503." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_329", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 33, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_329.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_417", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_417/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_417/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_417/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.240, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.608, 0.503]). The trajectory involves 76 precise waypoints with total movement distance of 0.423." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_417", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 20, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_417.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_882", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_882/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_882/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_882/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.271, 0.598]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.430]). The trajectory involves 95 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_882", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 85, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_882.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_408", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_408/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_408/frame_0084.jpg", + "maniskill/PegInsertionSide/images/episode_408/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.154, 0.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.441]). The trajectory involves 114 precise waypoints with total movement distance of 0.605." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_408", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 33, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_408.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_389", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_389/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_389/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_389/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.178, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.449]). The trajectory involves 124 precise waypoints with total movement distance of 0.519." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_389", + "trajectory_length": 124, + "key_frame_indices": [ + 0, + 115, + 123 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_389.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_201", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_201/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_201/frame_0119.jpg", + "maniskill/PegInsertionSide/images/episode_201/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.290, 0.456]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.582, 0.401]). The trajectory involves 86 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_201", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 78, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_201.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_826", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_826/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_826/frame_0111.jpg", + "maniskill/PegInsertionSide/images/episode_826/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.157, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.690, 0.427]). The trajectory involves 127 precise waypoints with total movement distance of 0.660." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_826", + "trajectory_length": 127, + "key_frame_indices": [ + 0, + 41, + 126 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_826.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_877", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_877/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_877/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_877/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.137, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.650, 0.421]). The trajectory involves 85 precise waypoints with total movement distance of 0.572." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_877", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 25, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_877.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_817", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_817/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_817/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_817/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.131, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.308]). The trajectory involves 103 precise waypoints with total movement distance of 0.608." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_817", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 36, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_817.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_185", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_185/frame_0036.jpg", + "maniskill/PegInsertionSide/images/episode_185/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_185/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.296, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.637, 0.455]). The trajectory involves 69 precise waypoints with total movement distance of 0.377." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_185", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_185.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_879", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_879/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_879/frame_0187.jpg", + "maniskill/PegInsertionSide/images/episode_879/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.281, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.378]). The trajectory involves 126 precise waypoints with total movement distance of 0.516." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_879", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 115, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_879.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_191", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_191/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_191/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_191/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.302, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.667, 0.391]). The trajectory involves 78 precise waypoints with total movement distance of 0.486." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_191", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_191.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_659", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_659/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_659/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_659/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.222, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.508, 0.386]). The trajectory involves 75 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_659", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 23, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_659.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_93", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_93/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_93/frame_0094.jpg", + "maniskill/PegInsertionSide/images/episode_93/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.219, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 0.540]). The trajectory involves 106 precise waypoints with total movement distance of 0.608." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_93", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 29, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_93.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_220", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_220/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_220/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_220/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.249, 0.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.705, 0.395]). The trajectory involves 107 precise waypoints with total movement distance of 0.534." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_220", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 96, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_220.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_270", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_270/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_270/frame_0124.jpg", + "maniskill/PegInsertionSide/images/episode_270/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.371, 0.438]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.525, 0.451]). The trajectory involves 77 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_270", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 68, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_270.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_479", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_479/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_479/frame_0158.jpg", + "maniskill/PegInsertionSide/images/episode_479/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.268, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.608, 0.447]). The trajectory involves 107 precise waypoints with total movement distance of 0.424." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_479", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 97, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_479.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_24", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_24/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_24/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_24/frame_0103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.545]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.649, 0.486]). The trajectory involves 66 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_24", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 22, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_24.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_121", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_121/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_121/frame_0175.jpg", + "maniskill/PegInsertionSide/images/episode_121/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.320, 0.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.431]). The trajectory involves 114 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_121", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 104, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_121.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_279", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_279/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_279/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_279/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.244, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.643, 0.506]). The trajectory involves 68 precise waypoints with total movement distance of 0.436." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_279", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 21, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_279.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_323", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_323/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_323/frame_0092.jpg", + "maniskill/PegInsertionSide/images/episode_323/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.175, 0.632]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.625, 0.434]). The trajectory involves 97 precise waypoints with total movement distance of 0.541." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_323", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 33, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_323.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_31", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_31/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_31/frame_0117.jpg", + "maniskill/PegInsertionSide/images/episode_31/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.573, 0.410]). The trajectory involves 84 precise waypoints with total movement distance of 0.380." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_31", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 75, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_31.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_672", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_672/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_672/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_672/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.269, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.608, 0.417]). The trajectory involves 95 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_672", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 27, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_672.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_113", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_113/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_113/frame_0127.jpg", + "maniskill/PegInsertionSide/images/episode_113/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.282, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.466]). The trajectory involves 83 precise waypoints with total movement distance of 0.312." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_113", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 72, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_113.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_592", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_592/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_592/frame_0169.jpg", + "maniskill/PegInsertionSide/images/episode_592/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.288, 0.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.304]). The trajectory involves 114 precise waypoints with total movement distance of 0.576." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_592", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 103, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_592.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_60", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_60/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_60/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_60/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.178, 0.487]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.764, 0.457]). The trajectory involves 97 precise waypoints with total movement distance of 0.647." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_60", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 30, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_60.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_734", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_734/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_734/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_734/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.196, 0.613]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.554, 0.461]). The trajectory involves 76 precise waypoints with total movement distance of 0.411." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_734", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 26, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_734.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_706", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_706/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_706/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_706/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.252, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.556, 0.395]). The trajectory involves 83 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_706", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 25, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_706.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_228", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_228/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_228/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_228/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.302, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.667, 0.391]). The trajectory involves 78 precise waypoints with total movement distance of 0.486." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_228", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_228.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_653", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_653/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_653/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_653/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.263, 0.454]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.610, 0.425]). The trajectory involves 72 precise waypoints with total movement distance of 0.381." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_653", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_653.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_20", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_20/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_20/frame_0174.jpg", + "maniskill/PegInsertionSide/images/episode_20/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.322, 0.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.665, 0.423]). The trajectory involves 118 precise waypoints with total movement distance of 0.449." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_20", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 107, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_20.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_154", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_154/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_154/frame_0189.jpg", + "maniskill/PegInsertionSide/images/episode_154/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.203, 0.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.450]). The trajectory involves 125 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_154", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 117, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_154.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_342", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_342/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_342/frame_0160.jpg", + "maniskill/PegInsertionSide/images/episode_342/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.270, 0.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.490]). The trajectory involves 108 precise waypoints with total movement distance of 0.350." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_342", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 99, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_342.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_896", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_896/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_896/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_896/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.381, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.615, 0.493]). The trajectory involves 87 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_896", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 78, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_896.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_584", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_584/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_584/frame_0120.jpg", + "maniskill/PegInsertionSide/images/episode_584/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.344, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.660, 0.355]). The trajectory involves 88 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_584", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 78, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_584.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_261", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_261/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_261/frame_0178.jpg", + "maniskill/PegInsertionSide/images/episode_261/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.795, 0.439]). The trajectory involves 123 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_261", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 111, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_261.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_368", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_368/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_368/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_368/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.237, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.592, 0.390]). The trajectory involves 74 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_368", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_368.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_990", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_990/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_990/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_990/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.548]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.560, 0.399]). The trajectory involves 75 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_990", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 21, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_990.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_205", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_205/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_205/frame_0136.jpg", + "maniskill/PegInsertionSide/images/episode_205/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.223, 0.593]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.538, 0.349]). The trajectory involves 97 precise waypoints with total movement distance of 0.513." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_205", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 85, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_205.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_298", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_298/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_298/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_298/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.469]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.679, 0.429]). The trajectory involves 72 precise waypoints with total movement distance of 0.338." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_298", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_298.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_844", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_844/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_844/frame_0099.jpg", + "maniskill/PegInsertionSide/images/episode_844/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.165, 0.541]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.440]). The trajectory involves 108 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_844", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 34, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_844.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_478", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_478/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_478/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_478/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.261, 0.438]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.626, 0.484]). The trajectory involves 98 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_478", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 27, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_478.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_287", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_287/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_287/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_287/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.699, 0.443]). The trajectory involves 96 precise waypoints with total movement distance of 0.442." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_287", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 24, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_287.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_954", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_954/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_954/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_954/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.157, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.671, 0.400]). The trajectory involves 87 precise waypoints with total movement distance of 0.555." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_954", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 28, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_954.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_425", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_425/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_425/frame_0198.jpg", + "maniskill/PegInsertionSide/images/episode_425/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.179, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.349]). The trajectory involves 136 precise waypoints with total movement distance of 0.643." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_425", + "trajectory_length": 136, + "key_frame_indices": [ + 0, + 125, + 135 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_425.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_448", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_448/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_448/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_448/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.280, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.671, 0.502]). The trajectory involves 93 precise waypoints with total movement distance of 0.444." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_448", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 26, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_448.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_418", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_418/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_418/frame_0164.jpg", + "maniskill/PegInsertionSide/images/episode_418/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.281, 0.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.759, 0.443]). The trajectory involves 120 precise waypoints with total movement distance of 0.578." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_418", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 109, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_418.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_707", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_707/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_707/frame_0141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.377, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.524]). The trajectory involves 82 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_707", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_707.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_726", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_726/frame_0000.jpg", + "maniskill/PegInsertionSide/images/episode_726/frame_0125.jpg", + "maniskill/PegInsertionSide/images/episode_726/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.406]). The trajectory involves 136 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_726", + "trajectory_length": 136, + "key_frame_indices": [ + 0, + 125, + 135 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_726.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_530", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_530/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_530/frame_0121.jpg", + "maniskill/PegInsertionSide/images/episode_530/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.436]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.594, 0.477]). The trajectory involves 83 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_530", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 75, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_530.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_755", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_755/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_755/frame_0162.jpg", + "maniskill/PegInsertionSide/images/episode_755/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.325, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.735, 0.552]). The trajectory involves 107 precise waypoints with total movement distance of 0.556." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_755", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 95, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_755.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_488", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_488/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_488/frame_0171.jpg", + "maniskill/PegInsertionSide/images/episode_488/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.222, 0.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.701, 0.478]). The trajectory involves 110 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_488", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 100, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_488.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_627", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_627/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_627/frame_0191.jpg", + "maniskill/PegInsertionSide/images/episode_627/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.301, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.693, 0.381]). The trajectory involves 136 precise waypoints with total movement distance of 0.526." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_627", + "trajectory_length": 136, + "key_frame_indices": [ + 0, + 124, + 135 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_627.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_612", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_612/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_612/frame_0167.jpg", + "maniskill/PegInsertionSide/images/episode_612/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.305, 0.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.421]). The trajectory involves 116 precise waypoints with total movement distance of 0.369." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_612", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 108, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_612.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_112", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_112/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_112/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_112/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.205, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.714, 0.460]). The trajectory involves 77 precise waypoints with total movement distance of 0.569." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_112", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 23, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_112.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_853", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_853/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_853/frame_0173.jpg", + "maniskill/PegInsertionSide/images/episode_853/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.213, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.606, 0.456]). The trajectory involves 103 precise waypoints with total movement distance of 0.466." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_853", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 93, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_853.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_795", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_795/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_795/frame_0098.jpg", + "maniskill/PegInsertionSide/images/episode_795/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.554, 0.458]). The trajectory involves 68 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_795", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 58, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_795.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_482", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_482/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_482/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_482/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.144, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.742, 0.545]). The trajectory involves 78 precise waypoints with total movement distance of 0.629." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_482", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 26, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_482.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_74", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_74/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_74/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_74/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.288, 0.626]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.681, 0.435]). The trajectory involves 81 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_74", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 27, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_74.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_624", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_624/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_624/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_624/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.269, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.721, 0.405]). The trajectory involves 80 precise waypoints with total movement distance of 0.499." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_624", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 26, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_624.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_343", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_343/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_343/frame_0157.jpg", + "maniskill/PegInsertionSide/images/episode_343/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.244, 0.460]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.438]). The trajectory involves 100 precise waypoints with total movement distance of 0.391." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_343", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 90, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_343.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_639", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_639/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_639/frame_0174.jpg", + "maniskill/PegInsertionSide/images/episode_639/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.640, 0.464]). The trajectory involves 117 precise waypoints with total movement distance of 0.377." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_639", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 108, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_639.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_430", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_430/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_430/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_430/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.178, 0.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.449]). The trajectory involves 124 precise waypoints with total movement distance of 0.519." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_430", + "trajectory_length": 124, + "key_frame_indices": [ + 0, + 115, + 123 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_430.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_73", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_73/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_73/frame_0183.jpg", + "maniskill/PegInsertionSide/images/episode_73/frame_0191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.158, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.532, 0.436]). The trajectory involves 117 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_73", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 108, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_73.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_993", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_993/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_993/frame_0152.jpg", + "maniskill/PegInsertionSide/images/episode_993/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.217, 0.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.441]). The trajectory involves 108 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_993", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 99, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_993.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_480", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_480/frame_0036.jpg", + "maniskill/PegInsertionSide/images/episode_480/frame_0096.jpg", + "maniskill/PegInsertionSide/images/episode_480/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.613, 0.405]). The trajectory involves 71 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_480", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 60, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_480.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_141", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_141/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_141/frame_0109.jpg", + "maniskill/PegInsertionSide/images/episode_141/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.397, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.614, 0.542]). The trajectory involves 82 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_141", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 69, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_141.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_386", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_386/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_386/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_386/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.658, 0.286]). The trajectory involves 84 precise waypoints with total movement distance of 0.453." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_386", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 25, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_386.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_855", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_855/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_855/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_855/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.306, 0.442]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.652, 0.440]). The trajectory involves 96 precise waypoints with total movement distance of 0.389." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_855", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 26, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_855.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_716", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_716/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_716/frame_0109.jpg", + "maniskill/PegInsertionSide/images/episode_716/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.279, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.601, 0.500]). The trajectory involves 78 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_716", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 67, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_716.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_865", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_865/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_865/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_865/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.298, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.744, 0.513]). The trajectory involves 67 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_865", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 22, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_865.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_400", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_400/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_400/frame_0165.jpg", + "maniskill/PegInsertionSide/images/episode_400/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.422]). The trajectory involves 107 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_400", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 97, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_400.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_955", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_955/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_955/frame_0194.jpg", + "maniskill/PegInsertionSide/images/episode_955/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.210, 0.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.616, 0.429]). The trajectory involves 133 precise waypoints with total movement distance of 0.540." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_955", + "trajectory_length": 133, + "key_frame_indices": [ + 0, + 118, + 132 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_955.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_214", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_214/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_214/frame_0089.jpg", + "maniskill/PegInsertionSide/images/episode_214/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.120, 0.525]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.656, 0.462]). The trajectory involves 95 precise waypoints with total movement distance of 0.601." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_214", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 30, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_214.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_729", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_729/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_729/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_729/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.578]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.608, 0.549]). The trajectory involves 71 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_729", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 61, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_729.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_790", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_790/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_790/frame_0087.jpg", + "maniskill/PegInsertionSide/images/episode_790/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.164, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.359]). The trajectory involves 114 precise waypoints with total movement distance of 0.546." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_790", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 33, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_790.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_461", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_461/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_461/frame_0082.jpg", + "maniskill/PegInsertionSide/images/episode_461/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.259, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.576, 0.491]). The trajectory involves 97 precise waypoints with total movement distance of 0.403." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_461", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 29, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_461.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_241", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_241/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_241/frame_0107.jpg", + "maniskill/PegInsertionSide/images/episode_241/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.200, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.567, 0.447]). The trajectory involves 74 precise waypoints with total movement distance of 0.455." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_241", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 63, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_241.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_170", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_170/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_170/frame_0089.jpg", + "maniskill/PegInsertionSide/images/episode_170/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.140, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.425]). The trajectory involves 105 precise waypoints with total movement distance of 0.568." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_170", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 32, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_170.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_338", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_338/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_338/frame_0141.jpg", + "maniskill/PegInsertionSide/images/episode_338/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.194, 0.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.510]). The trajectory involves 107 precise waypoints with total movement distance of 0.425." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_338", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 97, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_338.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_620", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_620/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_620/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_620/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.285, 0.636]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.692, 0.396]). The trajectory involves 96 precise waypoints with total movement distance of 0.553." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_620", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 31, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_620.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_561", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_561/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_561/frame_0089.jpg", + "maniskill/PegInsertionSide/images/episode_561/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.153, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.746, 0.527]). The trajectory involves 104 precise waypoints with total movement distance of 0.689." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_561", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 32, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_561.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_97", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_97/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_97/frame_0175.jpg", + "maniskill/PegInsertionSide/images/episode_97/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.320, 0.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 0.431]). The trajectory involves 114 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_97", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 104, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_97.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_172", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_172/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_172/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_172/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.422]). The trajectory involves 69 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_172", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 18, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_172.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_375", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_375/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_375/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_375/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.209, 0.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.681, 0.268]). The trajectory involves 103 precise waypoints with total movement distance of 0.657." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_375", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 31, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_375.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_909", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_909/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_909/frame_0169.jpg", + "maniskill/PegInsertionSide/images/episode_909/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.208, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.417]). The trajectory involves 120 precise waypoints with total movement distance of 0.496." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_909", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 110, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_909.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_747", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_747/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_747/frame_0151.jpg", + "maniskill/PegInsertionSide/images/episode_747/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.443]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.535, 0.423]). The trajectory involves 84 precise waypoints with total movement distance of 0.328." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_747", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 72, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_747.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_983", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_983/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_983/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_983/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.625, 0.400]). The trajectory involves 99 precise waypoints with total movement distance of 0.424." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_983", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 89, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_983.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_42", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_42/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_42/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_42/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.258, 0.627]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.558, 0.464]). The trajectory involves 84 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_42", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 73, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_42.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_856", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_856/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_856/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_856/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.159, 0.607]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.572, 0.425]). The trajectory involves 90 precise waypoints with total movement distance of 0.514." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_856", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 30, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_856.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_345", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_345/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_345/frame_0189.jpg", + "maniskill/PegInsertionSide/images/episode_345/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.266, 0.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.375]). The trajectory involves 128 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_345", + "trajectory_length": 128, + "key_frame_indices": [ + 0, + 120, + 127 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_345.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_959", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_959/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_959/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_959/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.365, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.609, 0.423]). The trajectory involves 76 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_959", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 23, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_959.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_226", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_226/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_226/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_226/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.267, 0.620]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.661, 0.437]). The trajectory involves 70 precise waypoints with total movement distance of 0.451." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_226", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 23, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_226.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_293", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_293/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_293/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_293/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.231, 0.583]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.650, 0.479]). The trajectory involves 87 precise waypoints with total movement distance of 0.485." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_293", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 26, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_293.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_863", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_863/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_863/frame_0150.jpg", + "maniskill/PegInsertionSide/images/episode_863/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.296, 0.620]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.524, 0.458]). The trajectory involves 100 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_863", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 90, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_863.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_46", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_46/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_46/frame_0135.jpg", + "maniskill/PegInsertionSide/images/episode_46/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.736, 0.462]). The trajectory involves 96 precise waypoints with total movement distance of 0.474." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_46", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 86, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_46.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_10", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_10/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_10/frame_0183.jpg", + "maniskill/PegInsertionSide/images/episode_10/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.213, 0.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.624, 0.462]). The trajectory involves 118 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_10", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 108, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_10.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_352", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_352/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_352/frame_0192.jpg", + "maniskill/PegInsertionSide/images/episode_352/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.241, 0.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.651, 0.369]). The trajectory involves 129 precise waypoints with total movement distance of 0.538." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_352", + "trajectory_length": 129, + "key_frame_indices": [ + 0, + 118, + 128 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_352.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_383", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_383/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_383/frame_0124.jpg", + "maniskill/PegInsertionSide/images/episode_383/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.435]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.640, 0.390]). The trajectory involves 87 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_383", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 77, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_383.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_447", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_447/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_447/frame_0133.jpg", + "maniskill/PegInsertionSide/images/episode_447/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.224, 0.601]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.545, 0.418]). The trajectory involves 85 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_447", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 75, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_447.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_825", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_825/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_825/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_825/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.352, 0.437]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.605, 0.349]). The trajectory involves 82 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_825", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 21, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_825.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_756", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_756/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_756/frame_0206.jpg", + "maniskill/PegInsertionSide/images/episode_756/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.143, 0.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.403]). The trajectory involves 143 precise waypoints with total movement distance of 0.628." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_756", + "trajectory_length": 143, + "key_frame_indices": [ + 0, + 132, + 142 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_756.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_354", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_354/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_354/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_354/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.304, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.610, 0.397]). The trajectory involves 79 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_354", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_354.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_985", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_985/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_985/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_985/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.321, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.632, 0.389]). The trajectory involves 77 precise waypoints with total movement distance of 0.394." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_985", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 22, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_985.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_692", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_692/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_692/frame_0132.jpg", + "maniskill/PegInsertionSide/images/episode_692/frame_0141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.379, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.694, 0.400]). The trajectory involves 84 precise waypoints with total movement distance of 0.365." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_692", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 74, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_692.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_493", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_493/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_493/frame_0110.jpg", + "maniskill/PegInsertionSide/images/episode_493/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.194, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.443]). The trajectory involves 76 precise waypoints with total movement distance of 0.374." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_493", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 65, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_493.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_477", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_477/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_477/frame_0148.jpg", + "maniskill/PegInsertionSide/images/episode_477/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.392]). The trajectory involves 105 precise waypoints with total movement distance of 0.367." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_477", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 94, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_477.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_285", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_285/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_285/frame_0195.jpg", + "maniskill/PegInsertionSide/images/episode_285/frame_0205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.165, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.383]). The trajectory involves 130 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_285", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 119, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_285.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_926", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_926/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_926/frame_0152.jpg", + "maniskill/PegInsertionSide/images/episode_926/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.346, 0.432]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.571, 0.473]). The trajectory involves 93 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_926", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 85, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_926.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_292", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_292/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_292/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_292/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.148, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.624, 0.409]). The trajectory involves 85 precise waypoints with total movement distance of 0.560." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_292", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 23, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_292.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_573", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_573/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_573/frame_0140.jpg", + "maniskill/PegInsertionSide/images/episode_573/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.303, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.432]). The trajectory involves 97 precise waypoints with total movement distance of 0.350." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_573", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 87, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_573.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_122", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_122/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_122/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_122/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.264, 0.476]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.553, 0.482]). The trajectory involves 76 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_122", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 20, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_122.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_427", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_427/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_427/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_427/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.658, 0.286]). The trajectory involves 84 precise waypoints with total movement distance of 0.453." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_427", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 25, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_427.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_918", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_918/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_918/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_918/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.624]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.678, 0.387]). The trajectory involves 78 precise waypoints with total movement distance of 0.438." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_918", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 25, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_918.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_635", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_635/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_635/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_635/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.301, 0.603]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.635, 0.493]). The trajectory involves 75 precise waypoints with total movement distance of 0.388." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_635", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 64, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_635.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_694", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_694/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_694/frame_0127.jpg", + "maniskill/PegInsertionSide/images/episode_694/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.557, 0.466]). The trajectory involves 82 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_694", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 74, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_694.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_519", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_519/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_519/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_519/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.670, 0.397]). The trajectory involves 76 precise waypoints with total movement distance of 0.393." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_519", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 22, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_519.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_429", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_429/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_429/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_429/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.270, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.704, 0.498]). The trajectory involves 89 precise waypoints with total movement distance of 0.518." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_429", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 24, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_429.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_81", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_81/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_81/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_81/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.657, 0.498]). The trajectory involves 77 precise waypoints with total movement distance of 0.399." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_81", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 21, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_81.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_753", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_753/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_753/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_753/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.369, 0.582]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.703, 0.426]). The trajectory involves 81 precise waypoints with total movement distance of 0.432." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_753", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 22, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_753.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_350", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_350/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_350/frame_0124.jpg", + "maniskill/PegInsertionSide/images/episode_350/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.284, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.407]). The trajectory involves 90 precise waypoints with total movement distance of 0.347." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_350", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 79, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_350.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_593", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_593/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_593/frame_0146.jpg", + "maniskill/PegInsertionSide/images/episode_593/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.384, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.711, 0.407]). The trajectory involves 106 precise waypoints with total movement distance of 0.406." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_593", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 95, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_593.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_617", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_617/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_617/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_617/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.538, 0.523]). The trajectory involves 78 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_617", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 68, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_617.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_549", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_549/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_549/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_549/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.278, 0.442]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.682, 0.484]). The trajectory involves 74 precise waypoints with total movement distance of 0.433." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_549", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_549.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_850", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_850/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_850/frame_0146.jpg", + "maniskill/PegInsertionSide/images/episode_850/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.536, 0.524]). The trajectory involves 94 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_850", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 83, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_850.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_6", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_6/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_6/frame_0082.jpg", + "maniskill/PegInsertionSide/images/episode_6/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.274, 0.460]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.694, 0.501]). The trajectory involves 97 precise waypoints with total movement distance of 0.513." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_6", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 28, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_6.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_646", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_646/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_646/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_646/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.444]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.530, 0.444]). The trajectory involves 90 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_646", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 81, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_646.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_34", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_34/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_34/frame_0133.jpg", + "maniskill/PegInsertionSide/images/episode_34/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.390, 0.462]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.659, 0.471]). The trajectory involves 82 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_34", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 71, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_34.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_767", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_767/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_767/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_767/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.196, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.611, 0.441]). The trajectory involves 77 precise waypoints with total movement distance of 0.457." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_767", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 22, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_767.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_906", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_906/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_906/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_906/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.275, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.499, 0.404]). The trajectory involves 80 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_906", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 24, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_906.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_12", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_12/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_12/frame_0177.jpg", + "maniskill/PegInsertionSide/images/episode_12/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.250, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.426]). The trajectory involves 118 precise waypoints with total movement distance of 0.447." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_12", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 109, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_12.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_599", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_599/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_599/frame_0164.jpg", + "maniskill/PegInsertionSide/images/episode_599/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.616, 0.465]). The trajectory involves 104 precise waypoints with total movement distance of 0.402." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_599", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 96, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_599.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_754", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_754/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_754/frame_0173.jpg", + "maniskill/PegInsertionSide/images/episode_754/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.129, 0.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.609, 0.357]). The trajectory involves 111 precise waypoints with total movement distance of 0.568." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_754", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 100, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_754.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_948", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_948/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_948/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_948/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.693, 0.452]). The trajectory involves 94 precise waypoints with total movement distance of 0.458." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_948", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 26, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_948.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_409", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_409/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_409/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_409/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.237, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.592, 0.390]). The trajectory involves 74 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_409", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_409.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_605", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_605/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_605/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_605/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.595]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.761, 0.428]). The trajectory involves 79 precise waypoints with total movement distance of 0.549." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_605", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 23, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_605.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_533", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_533/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_533/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_533/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.251, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.385]). The trajectory involves 77 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_533", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 20, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_533.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_239", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_239/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_239/frame_0086.jpg", + "maniskill/PegInsertionSide/images/episode_239/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.114, 0.580]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.545, 0.548]). The trajectory involves 87 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_239", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 24, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_239.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_58", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_58/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_58/frame_0156.jpg", + "maniskill/PegInsertionSide/images/episode_58/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.618, 0.455]). The trajectory involves 111 precise waypoints with total movement distance of 0.407." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_58", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 102, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_58.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_470", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_470/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_470/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_470/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.670, 0.397]). The trajectory involves 76 precise waypoints with total movement distance of 0.393." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_470", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 22, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_470.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_288", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_288/frame_0086.jpg", + "maniskill/PegInsertionSide/images/episode_288/frame_0202.jpg", + "maniskill/PegInsertionSide/images/episode_288/frame_0210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.185, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.492, 0.422]). The trajectory involves 125 precise waypoints with total movement distance of 0.450." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_288", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 116, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_288.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_2", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_2/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_2/frame_0187.jpg", + "maniskill/PegInsertionSide/images/episode_2/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.126, 0.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.422]). The trajectory involves 121 precise waypoints with total movement distance of 0.605." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_2", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 109, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_2.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_365", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_365/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_365/frame_0157.jpg", + "maniskill/PegInsertionSide/images/episode_365/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.276, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.524, 0.420]). The trajectory involves 100 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_365", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 90, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_365.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_656", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_656/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_656/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_656/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.351, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.530, 0.414]). The trajectory involves 77 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_656", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 66, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_656.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_361", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_361/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_361/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_361/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.542, 0.487]). The trajectory involves 76 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_361", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 66, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_361.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_769", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_769/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_769/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_769/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.474]). The trajectory involves 84 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_769", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 74, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_769.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_399", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_399/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_399/frame_0164.jpg", + "maniskill/PegInsertionSide/images/episode_399/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.262, 0.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.390]). The trajectory involves 113 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_399", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 103, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_399.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_512", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_512/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_512/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_512/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.532, 0.413]). The trajectory involves 79 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_512", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_512.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_462", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_462/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_462/frame_0118.jpg", + "maniskill/PegInsertionSide/images/episode_462/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.527, 0.350]). The trajectory involves 88 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_462", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 77, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_462.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_95", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_95/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_95/frame_0170.jpg", + "maniskill/PegInsertionSide/images/episode_95/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.177, 0.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.777, 0.491]). The trajectory involves 115 precise waypoints with total movement distance of 0.697." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_95", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 106, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_95.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_553", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_553/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_553/frame_0156.jpg", + "maniskill/PegInsertionSide/images/episode_553/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.282, 0.472]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.460]). The trajectory involves 99 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_553", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 89, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_553.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_327", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_327/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_327/frame_0174.jpg", + "maniskill/PegInsertionSide/images/episode_327/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.236, 0.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.356]). The trajectory involves 122 precise waypoints with total movement distance of 0.492." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_327", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 112, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_327.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_109", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_109/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_109/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_109/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.666, 0.413]). The trajectory involves 82 precise waypoints with total movement distance of 0.421." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_109", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 27, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_109.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_652", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_652/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_652/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_652/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.146, 0.532]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.738, 0.557]). The trajectory involves 80 precise waypoints with total movement distance of 0.626." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_652", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 26, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_652.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_116", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_116/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_116/frame_0122.jpg", + "maniskill/PegInsertionSide/images/episode_116/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.308, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.566, 0.408]). The trajectory involves 87 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_116", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 78, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_116.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_988", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_988/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_988/frame_0111.jpg", + "maniskill/PegInsertionSide/images/episode_988/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.172, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.773, 0.436]). The trajectory involves 126 precise waypoints with total movement distance of 0.701." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_988", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 42, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_988.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_911", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_911/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_911/frame_0116.jpg", + "maniskill/PegInsertionSide/images/episode_911/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.454]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.606, 0.344]). The trajectory involves 76 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_911", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 66, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_911.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_320", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_320/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_320/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_320/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.241, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.608, 0.429]). The trajectory involves 73 precise waypoints with total movement distance of 0.392." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_320", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 24, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_320.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_218", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_218/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_218/frame_0161.jpg", + "maniskill/PegInsertionSide/images/episode_218/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.219, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.428]). The trajectory involves 104 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_218", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 91, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_218.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_188", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_188/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_188/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_188/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.572]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.725, 0.405]). The trajectory involves 73 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_188", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_188.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_173", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_173/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_173/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_173/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.294, 0.436]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.537, 0.393]). The trajectory involves 72 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_173", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 19, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_173.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_187", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_187/frame_0037.jpg", + "maniskill/PegInsertionSide/images/episode_187/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_187/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.272, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.585, 0.425]). The trajectory involves 74 precise waypoints with total movement distance of 0.377." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_187", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_187.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_144", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_144/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_144/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_144/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.328, 0.439]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.577, 0.411]). The trajectory involves 67 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_144", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 19, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_144.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_891", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_891/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_891/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_891/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.587, 0.541]). The trajectory involves 69 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_891", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 19, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_891.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_977", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_977/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_977/frame_0159.jpg", + "maniskill/PegInsertionSide/images/episode_977/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.339, 0.523]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.707, 0.435]). The trajectory involves 100 precise waypoints with total movement distance of 0.441." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_977", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 90, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_977.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_890", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_890/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_890/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_890/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.463]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.710, 0.551]). The trajectory involves 93 precise waypoints with total movement distance of 0.439." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_890", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 85, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_890.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_421", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_421/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_421/frame_0192.jpg", + "maniskill/PegInsertionSide/images/episode_421/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.174, 0.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.721, 0.482]). The trajectory involves 131 precise waypoints with total movement distance of 0.660." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_421", + "trajectory_length": 131, + "key_frame_indices": [ + 0, + 122, + 130 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_421.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_63", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_63/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_63/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_63/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.272, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.583, 0.490]). The trajectory involves 92 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_63", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 80, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_63.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_979", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_979/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_979/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_979/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.162, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.732, 0.463]). The trajectory involves 100 precise waypoints with total movement distance of 0.721." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_979", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 34, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_979.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_897", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_897/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_897/frame_0160.jpg", + "maniskill/PegInsertionSide/images/episode_897/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.623, 0.366]). The trajectory involves 99 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_897", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 89, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_897.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_393", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_393/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_393/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_393/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.215, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.687, 0.500]). The trajectory involves 125 precise waypoints with total movement distance of 0.567." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_393", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 115, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_393.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_774", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_774/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_774/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_774/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.130, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.764, 0.475]). The trajectory involves 103 precise waypoints with total movement distance of 0.727." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_774", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 29, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_774.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_851", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_851/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_851/frame_0161.jpg", + "maniskill/PegInsertionSide/images/episode_851/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.234, 0.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.598, 0.454]). The trajectory involves 112 precise waypoints with total movement distance of 0.433." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_851", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 102, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_851.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_554", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_554/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_554/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_554/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.204, 0.633]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.481]). The trajectory involves 74 precise waypoints with total movement distance of 0.376." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_554", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 25, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_554.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_378", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_378/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_378/frame_0083.jpg", + "maniskill/PegInsertionSide/images/episode_378/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.125, 0.582]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.530, 0.335]). The trajectory involves 94 precise waypoints with total movement distance of 0.545." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_378", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 32, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_378.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_78", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_78/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_78/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_78/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.208, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.753, 0.452]). The trajectory involves 132 precise waypoints with total movement distance of 0.669." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_78", + "trajectory_length": 132, + "key_frame_indices": [ + 0, + 120, + 131 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_78.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_80", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_80/frame_0083.jpg", + "maniskill/PegInsertionSide/images/episode_80/frame_0209.jpg", + "maniskill/PegInsertionSide/images/episode_80/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.139, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.418]). The trajectory involves 134 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_80", + "trajectory_length": 134, + "key_frame_indices": [ + 0, + 126, + 133 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_80.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_126", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_126/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_126/frame_0129.jpg", + "maniskill/PegInsertionSide/images/episode_126/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.321, 0.471]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.511, 0.515]). The trajectory involves 82 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_126", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 73, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_126.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_552", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_552/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_552/frame_0122.jpg", + "maniskill/PegInsertionSide/images/episode_552/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.481]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.505, 0.468]). The trajectory involves 78 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_552", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 67, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_552.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_466", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_466/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_466/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_466/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.456]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.686, 0.565]). The trajectory involves 94 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_466", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 84, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_466.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_789", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_789/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_789/frame_0133.jpg", + "maniskill/PegInsertionSide/images/episode_789/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.396]). The trajectory involves 77 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_789", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 71, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_789.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_779", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_779/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_779/frame_0105.jpg", + "maniskill/PegInsertionSide/images/episode_779/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.327, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.532, 0.391]). The trajectory involves 74 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_779", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 63, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_779.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_209", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_209/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_209/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_209/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.538]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.422]). The trajectory involves 69 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_209", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 18, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_209.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_140", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_140/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_140/frame_0119.jpg", + "maniskill/PegInsertionSide/images/episode_140/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.647, 0.516]). The trajectory involves 84 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_140", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 72, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_140.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_920", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_920/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_920/frame_0171.jpg", + "maniskill/PegInsertionSide/images/episode_920/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.255, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.468]). The trajectory involves 115 precise waypoints with total movement distance of 0.375." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_920", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 106, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_920.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_942", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_942/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_942/frame_0147.jpg", + "maniskill/PegInsertionSide/images/episode_942/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.370, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.570, 0.318]). The trajectory involves 95 precise waypoints with total movement distance of 0.353." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_942", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 84, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_942.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_341", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_341/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_341/frame_0158.jpg", + "maniskill/PegInsertionSide/images/episode_341/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.229, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.608, 0.436]). The trajectory involves 109 precise waypoints with total movement distance of 0.475." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_341", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 100, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_341.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_219", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_219/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_219/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_219/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.473]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.672, 0.498]). The trajectory involves 72 precise waypoints with total movement distance of 0.434." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_219", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 23, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_219.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_832", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_832/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_832/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_832/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.703, 0.507]). The trajectory involves 96 precise waypoints with total movement distance of 0.470." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_832", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 86, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_832.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_340", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_340/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_340/frame_0212.jpg", + "maniskill/PegInsertionSide/images/episode_340/frame_0221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.109, 0.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.649, 0.457]). The trajectory involves 141 precise waypoints with total movement distance of 0.648." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_340", + "trajectory_length": 141, + "key_frame_indices": [ + 0, + 131, + 140 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_340.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_94", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_94/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_94/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_94/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.620]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.613, 0.486]). The trajectory involves 85 precise waypoints with total movement distance of 0.377." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_94", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 25, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_94.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_45", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_45/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_45/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_45/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.533]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.601, 0.483]). The trajectory involves 76 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_45", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 71, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_45.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_743", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_743/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_743/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_743/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.236, 0.480]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.581, 0.450]). The trajectory involves 77 precise waypoints with total movement distance of 0.381." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_743", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 23, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_743.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_397", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_397/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_397/frame_0172.jpg", + "maniskill/PegInsertionSide/images/episode_397/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.224, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.622, 0.394]). The trajectory involves 115 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_397", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 104, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_397.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_893", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_893/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_893/frame_0189.jpg", + "maniskill/PegInsertionSide/images/episode_893/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.138, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.350]). The trajectory involves 126 precise waypoints with total movement distance of 0.645." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_893", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 115, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_893.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_411", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_411/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_411/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_411/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.145, 0.629]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.658, 0.466]). The trajectory involves 79 precise waypoints with total movement distance of 0.602." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_411", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_411.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_246", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_246/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_246/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_246/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.223, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.525, 0.496]). The trajectory involves 81 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_246", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 23, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_246.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_597", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_597/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_597/frame_0113.jpg", + "maniskill/PegInsertionSide/images/episode_597/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.290, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.708, 0.415]). The trajectory involves 83 precise waypoints with total movement distance of 0.448." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_597", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 73, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_597.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_709", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_709/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_709/frame_0173.jpg", + "maniskill/PegInsertionSide/images/episode_709/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.318, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.612, 0.467]). The trajectory involves 117 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_709", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 108, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_709.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_629", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_629/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_629/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_629/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.255, 0.474]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.648, 0.550]). The trajectory involves 92 precise waypoints with total movement distance of 0.471." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_629", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 25, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_629.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_931", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_931/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_931/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_931/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.587, 0.541]). The trajectory involves 69 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_931", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 19, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_931.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_300", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_300/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_300/frame_0099.jpg", + "maniskill/PegInsertionSide/images/episode_300/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.156, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.411]). The trajectory involves 111 precise waypoints with total movement distance of 0.584." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_300", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 38, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_300.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_559", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_559/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_559/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_559/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.180, 0.575]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.588, 0.386]). The trajectory involves 94 precise waypoints with total movement distance of 0.514." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_559", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 27, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_559.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_741", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_741/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_741/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_741/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.369, 0.573]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.556, 0.309]). The trajectory involves 98 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_741", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 26, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_741.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_516", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_516/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_516/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_516/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.178, 0.584]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.713, 0.334]). The trajectory involves 85 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_516", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 28, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_516.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_29", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_29/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_29/frame_0158.jpg", + "maniskill/PegInsertionSide/images/episode_29/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.365, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.614, 0.415]). The trajectory involves 106 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_29", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 98, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_29.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_506", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_506/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_506/frame_0109.jpg", + "maniskill/PegInsertionSide/images/episode_506/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.136, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.640, 0.410]). The trajectory involves 138 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_506", + "trajectory_length": 138, + "key_frame_indices": [ + 0, + 44, + 137 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_506.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_452", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_452/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_452/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_452/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.187, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.565, 0.564]). The trajectory involves 83 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_452", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 24, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_452.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_594", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_594/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_594/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_594/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.580]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.675, 0.560]). The trajectory involves 77 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_594", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 64, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_594.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_665", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_665/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_665/frame_0174.jpg", + "maniskill/PegInsertionSide/images/episode_665/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.271, 0.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.714, 0.443]). The trajectory involves 118 precise waypoints with total movement distance of 0.543." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_665", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 109, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_665.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_514", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_514/frame_0086.jpg", + "maniskill/PegInsertionSide/images/episode_514/frame_0211.jpg", + "maniskill/PegInsertionSide/images/episode_514/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.124, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 0.393]). The trajectory involves 135 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_514", + "trajectory_length": 135, + "key_frame_indices": [ + 0, + 125, + 134 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_514.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_11", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_11/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_11/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_11/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.274, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.578, 0.481]). The trajectory involves 72 precise waypoints with total movement distance of 0.358." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_11", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 19, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_11.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_951", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_951/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_951/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_951/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.190, 0.619]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.689, 0.453]). The trajectory involves 80 precise waypoints with total movement distance of 0.556." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_951", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 27, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_951.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_564", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_564/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_564/frame_0146.jpg", + "maniskill/PegInsertionSide/images/episode_564/frame_0155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.244, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.559, 0.392]). The trajectory involves 96 precise waypoints with total movement distance of 0.366." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_564", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 86, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_564.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_821", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_821/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_821/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_821/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.284, 0.617]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.721, 0.488]). The trajectory involves 69 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_821", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 20, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_821.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_829", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_829/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_829/frame_0087.jpg", + "maniskill/PegInsertionSide/images/episode_829/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.164, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 0.359]). The trajectory involves 114 precise waypoints with total movement distance of 0.546." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_829", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 33, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_829.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_225", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_225/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_225/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_225/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.572]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.725, 0.405]). The trajectory involves 73 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_225", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_225.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_344", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_344/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_344/frame_0213.jpg", + "maniskill/PegInsertionSide/images/episode_344/frame_0226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.191, 0.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.688, 0.396]). The trajectory involves 150 precise waypoints with total movement distance of 0.680." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_344", + "trajectory_length": 150, + "key_frame_indices": [ + 0, + 136, + 149 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_344.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_834", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_834/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_834/frame_0098.jpg", + "maniskill/PegInsertionSide/images/episode_834/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.554, 0.458]). The trajectory involves 68 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_834", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 58, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_834.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_581", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_581/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_581/frame_0143.jpg", + "maniskill/PegInsertionSide/images/episode_581/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.199, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.620, 0.430]). The trajectory involves 107 precise waypoints with total movement distance of 0.543." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_581", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 96, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_581.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_499", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_499/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_499/frame_0149.jpg", + "maniskill/PegInsertionSide/images/episode_499/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.289, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.563, 0.482]). The trajectory involves 93 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_499", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 84, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_499.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_379", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_379/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_379/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_379/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.732, 0.376]). The trajectory involves 89 precise waypoints with total movement distance of 0.472." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_379", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 26, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_379.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_780", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_780/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_780/frame_0129.jpg", + "maniskill/PegInsertionSide/images/episode_780/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.451]). The trajectory involves 82 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_780", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 72, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_780.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_846", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_846/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_846/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_846/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.277, 0.468]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.698, 0.430]). The trajectory involves 74 precise waypoints with total movement distance of 0.462." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_846", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_846.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_835", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_835/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_835/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_835/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.177, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.501, 0.406]). The trajectory involves 79 precise waypoints with total movement distance of 0.371." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_835", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_835.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_294", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_294/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_294/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_294/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.241, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.608, 0.429]). The trajectory involves 73 precise waypoints with total movement distance of 0.392." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_294", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 24, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_294.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_138", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_138/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_138/frame_0096.jpg", + "maniskill/PegInsertionSide/images/episode_138/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.552]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.543, 0.467]). The trajectory involves 65 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_138", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 56, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_138.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_223", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_223/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_223/frame_0136.jpg", + "maniskill/PegInsertionSide/images/episode_223/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.586, 0.478]). The trajectory involves 94 precise waypoints with total movement distance of 0.313." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_223", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 85, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_223.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_62", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_62/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_62/frame_0187.jpg", + "maniskill/PegInsertionSide/images/episode_62/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.760, 0.351]). The trajectory involves 129 precise waypoints with total movement distance of 0.632." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_62", + "trajectory_length": 129, + "key_frame_indices": [ + 0, + 119, + 128 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_62.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_91", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_91/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_91/frame_0127.jpg", + "maniskill/PegInsertionSide/images/episode_91/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.275, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.584, 0.534]). The trajectory involves 90 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_91", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 80, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_91.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_667", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_667/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_667/frame_0191.jpg", + "maniskill/PegInsertionSide/images/episode_667/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.142, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.514, 0.475]). The trajectory involves 125 precise waypoints with total movement distance of 0.479." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_667", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 116, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_667.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_715", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_715/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_715/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_715/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.478]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.652, 0.502]). The trajectory involves 75 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_715", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 66, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_715.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_518", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_518/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_518/frame_0119.jpg", + "maniskill/PegInsertionSide/images/episode_518/frame_0205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.157, 0.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.849, 0.452]). The trajectory involves 134 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_518", + "trajectory_length": 134, + "key_frame_indices": [ + 0, + 47, + 133 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_518.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_451", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_451/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_451/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_451/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.156, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.551, 0.448]). The trajectory involves 92 precise waypoints with total movement distance of 0.450." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_451", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 79, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_451.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_775", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_775/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_775/frame_0105.jpg", + "maniskill/PegInsertionSide/images/episode_775/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.342, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.651, 0.407]). The trajectory involves 70 precise waypoints with total movement distance of 0.359." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_775", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 61, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_775.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_454", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_454/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_454/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_454/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.839, 0.517]). The trajectory involves 95 precise waypoints with total movement distance of 0.556." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_454", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 86, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_454.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_166", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_166/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_166/frame_0123.jpg", + "maniskill/PegInsertionSide/images/episode_166/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.545, 0.415]). The trajectory involves 85 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_166", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 74, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_166.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_428", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_428/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_428/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_428/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.187, 0.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.399]). The trajectory involves 125 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_428", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 114, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_428.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_124", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_124/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_124/frame_0129.jpg", + "maniskill/PegInsertionSide/images/episode_124/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.617, 0.559]). The trajectory involves 82 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_124", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 73, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_124.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_595", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_595/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_595/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_595/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.269, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.721, 0.405]). The trajectory involves 80 precise waypoints with total movement distance of 0.499." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_595", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 26, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_595.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_41", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_41/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_41/frame_0148.jpg", + "maniskill/PegInsertionSide/images/episode_41/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.521, 0.457]). The trajectory involves 100 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_41", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 90, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_41.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_622", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_622/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_622/frame_0146.jpg", + "maniskill/PegInsertionSide/images/episode_622/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.384, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.711, 0.407]). The trajectory involves 106 precise waypoints with total movement distance of 0.406." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_622", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 95, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_622.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_615", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_615/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_615/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_615/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.345, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.676, 0.503]). The trajectory involves 79 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_615", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_615.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_317", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_317/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_317/frame_0176.jpg", + "maniskill/PegInsertionSide/images/episode_317/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.281, 0.631]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.490]). The trajectory involves 121 precise waypoints with total movement distance of 0.478." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_317", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 111, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_317.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_940", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_940/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_940/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_940/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.293, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.597, 0.484]). The trajectory involves 86 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_940", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 80, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_940.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_982", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_982/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_982/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_982/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.285, 0.552]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.673, 0.419]). The trajectory involves 91 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_982", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 28, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_982.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_153", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_153/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_153/frame_0083.jpg", + "maniskill/PegInsertionSide/images/episode_153/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.460]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.700, 0.434]). The trajectory involves 81 precise waypoints with total movement distance of 0.370." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_153", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 23, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_153.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_217", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_217/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_217/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_217/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.275, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.441]). The trajectory involves 68 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_217", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 18, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_217.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_18", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_18/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_18/frame_0133.jpg", + "maniskill/PegInsertionSide/images/episode_18/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.262, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.517, 0.392]). The trajectory involves 83 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_18", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 73, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_18.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_614", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_614/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_614/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_614/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.291, 0.622]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.614, 0.502]). The trajectory involves 81 precise waypoints with total movement distance of 0.410." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_614", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 23, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_614.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_161", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_161/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_161/frame_0111.jpg", + "maniskill/PegInsertionSide/images/episode_161/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.461]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.679, 0.404]). The trajectory involves 73 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_161", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 62, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_161.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_202", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_202/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_202/frame_0116.jpg", + "maniskill/PegInsertionSide/images/episode_202/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.619, 0.398]). The trajectory involves 79 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_202", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_202.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_234", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_234/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_234/frame_0147.jpg", + "maniskill/PegInsertionSide/images/episode_234/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.662, 0.569]). The trajectory involves 103 precise waypoints with total movement distance of 0.429." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_234", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 96, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_234.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_582", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_582/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_582/frame_0117.jpg", + "maniskill/PegInsertionSide/images/episode_582/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.368, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.671, 0.491]). The trajectory involves 75 precise waypoints with total movement distance of 0.328." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_582", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 66, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_582.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_380", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_380/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_380/frame_0192.jpg", + "maniskill/PegInsertionSide/images/episode_380/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.174, 0.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.721, 0.482]). The trajectory involves 131 precise waypoints with total movement distance of 0.660." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_380", + "trajectory_length": 131, + "key_frame_indices": [ + 0, + 122, + 130 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_380.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_434", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_434/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_434/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_434/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.215, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.687, 0.500]). The trajectory involves 125 precise waypoints with total movement distance of 0.567." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_434", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 115, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_434.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_888", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_888/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_888/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_888/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.239, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.705, 0.407]). The trajectory involves 107 precise waypoints with total movement distance of 0.603." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_888", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 35, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_888.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_90", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_90/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_90/frame_0149.jpg", + "maniskill/PegInsertionSide/images/episode_90/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.367, 0.462]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.661, 0.467]). The trajectory involves 96 precise waypoints with total movement distance of 0.355." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_90", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 88, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_90.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_613", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_613/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_613/frame_0120.jpg", + "maniskill/PegInsertionSide/images/episode_613/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.344, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.660, 0.355]). The trajectory involves 88 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_613", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 78, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_613.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_962", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_962/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_962/frame_0116.jpg", + "maniskill/PegInsertionSide/images/episode_962/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.390, 0.437]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.577, 0.435]). The trajectory involves 80 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_962", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 70, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_962.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_740", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_740/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_740/frame_0099.jpg", + "maniskill/PegInsertionSide/images/episode_740/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.342, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.538, 0.465]). The trajectory involves 66 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_740", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 56, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_740.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_366", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_366/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_366/frame_0098.jpg", + "maniskill/PegInsertionSide/images/episode_366/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.516, 0.487]). The trajectory involves 68 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_366", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 58, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_366.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_701", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_701/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_701/frame_0163.jpg", + "maniskill/PegInsertionSide/images/episode_701/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.167, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.524]). The trajectory involves 106 precise waypoints with total movement distance of 0.456." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_701", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 96, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_701.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_476", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_476/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_476/frame_0084.jpg", + "maniskill/PegInsertionSide/images/episode_476/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.190, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 0.362]). The trajectory involves 103 precise waypoints with total movement distance of 0.621." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_476", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 32, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_476.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_99", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_99/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_99/frame_0085.jpg", + "maniskill/PegInsertionSide/images/episode_99/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.101, 0.615]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.556, 0.391]). The trajectory involves 85 precise waypoints with total movement distance of 0.585." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_99", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 29, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_99.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_229", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_229/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_229/frame_0129.jpg", + "maniskill/PegInsertionSide/images/episode_229/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.574, 0.445]). The trajectory involves 79 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_229", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_229.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_843", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_843/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_843/frame_0100.jpg", + "maniskill/PegInsertionSide/images/episode_843/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.220, 0.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.867, 0.496]). The trajectory involves 123 precise waypoints with total movement distance of 0.760." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_843", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 39, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_843.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_645", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_645/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_645/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_645/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.233, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.578, 0.406]). The trajectory involves 73 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_645", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 22, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_645.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_101", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_101/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_101/frame_0123.jpg", + "maniskill/PegInsertionSide/images/episode_101/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.346, 0.433]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.526, 0.395]). The trajectory involves 85 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_101", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 74, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_101.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_416", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_416/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_416/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_416/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.209, 0.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.681, 0.268]). The trajectory involves 103 precise waypoints with total movement distance of 0.657." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_416", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 31, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_416.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_291", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_291/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_291/frame_0176.jpg", + "maniskill/PegInsertionSide/images/episode_291/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.281, 0.631]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.490]). The trajectory involves 121 precise waypoints with total movement distance of 0.478." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_291", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 111, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_291.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_404", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_404/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_404/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_404/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.400, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.671, 0.386]). The trajectory involves 82 precise waypoints with total movement distance of 0.346." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_404", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 71, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_404.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_912", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_912/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_912/frame_0166.jpg", + "maniskill/PegInsertionSide/images/episode_912/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.202, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.638, 0.432]). The trajectory involves 116 precise waypoints with total movement distance of 0.532." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_912", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 106, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_912.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_941", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_941/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_941/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_941/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.294, 0.577]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.640, 0.456]). The trajectory involves 72 precise waypoints with total movement distance of 0.419." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_941", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_941.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_586", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_586/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_586/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_586/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.345, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.676, 0.503]). The trajectory involves 79 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_586", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_586.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_372", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_372/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_372/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_372/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.301, 0.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.423]). The trajectory involves 117 precise waypoints with total movement distance of 0.411." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_372", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 107, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_372.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_583", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_583/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_583/frame_0167.jpg", + "maniskill/PegInsertionSide/images/episode_583/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.305, 0.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 0.421]). The trajectory involves 116 precise waypoints with total movement distance of 0.369." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_583", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 108, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_583.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_975", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_975/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_975/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_975/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.266, 0.433]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.576, 0.434]). The trajectory involves 72 precise waypoints with total movement distance of 0.324." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_975", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 23, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_975.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_484", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_484/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_484/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_484/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.251, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.385]). The trajectory involves 77 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_484", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 20, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_484.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_596", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_596/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_596/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_596/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.680, 0.526]). The trajectory involves 95 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_596", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 86, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_596.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_762", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_762/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_762/frame_0192.jpg", + "maniskill/PegInsertionSide/images/episode_762/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.171, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.673, 0.519]). The trajectory involves 124 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_762", + "trajectory_length": 124, + "key_frame_indices": [ + 0, + 115, + 123 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_762.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_54", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_54/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_54/frame_0185.jpg", + "maniskill/PegInsertionSide/images/episode_54/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.232, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.601, 0.426]). The trajectory involves 121 precise waypoints with total movement distance of 0.446." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_54", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 113, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_54.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_248", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_248/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_248/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_248/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.214, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.612, 0.384]). The trajectory involves 76 precise waypoints with total movement distance of 0.439." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_248", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 24, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_248.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_132", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_132/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_132/frame_0092.jpg", + "maniskill/PegInsertionSide/images/episode_132/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.163, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 0.538]). The trajectory involves 111 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_132", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 36, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_132.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_616", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_616/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_616/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_616/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.292, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.617, 0.436]). The trajectory involves 93 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_616", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 84, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_616.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_309", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_309/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_309/frame_0142.jpg", + "maniskill/PegInsertionSide/images/episode_309/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.335, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.740, 0.553]). The trajectory involves 96 precise waypoints with total movement distance of 0.485." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_309", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 89, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_309.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_823", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_823/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_823/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_823/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.222, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.560, 0.433]). The trajectory involves 97 precise waypoints with total movement distance of 0.383." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_823", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 89, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_823.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_460", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_460/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_460/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_460/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.328, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.624, 0.499]). The trajectory involves 75 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_460", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 21, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_460.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_424", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_424/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_424/frame_0124.jpg", + "maniskill/PegInsertionSide/images/episode_424/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.435]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.640, 0.390]). The trajectory involves 87 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_424", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 77, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_424.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_634", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_634/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_634/frame_0163.jpg", + "maniskill/PegInsertionSide/images/episode_634/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.265, 0.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.567, 0.454]). The trajectory involves 113 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_634", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 105, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_634.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_563", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_563/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_563/frame_0179.jpg", + "maniskill/PegInsertionSide/images/episode_563/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.261, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.378]). The trajectory involves 123 precise waypoints with total movement distance of 0.405." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_563", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 113, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_563.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_19", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_19/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_19/frame_0091.jpg", + "maniskill/PegInsertionSide/images/episode_19/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.097, 0.633]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.579, 0.407]). The trajectory involves 96 precise waypoints with total movement distance of 0.595." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_19", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 36, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_19.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_405", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_405/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_405/frame_0173.jpg", + "maniskill/PegInsertionSide/images/episode_405/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.222, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.365]). The trajectory involves 122 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_405", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 112, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_405.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_487", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_487/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_487/frame_0175.jpg", + "maniskill/PegInsertionSide/images/episode_487/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.182, 0.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.613, 0.458]). The trajectory involves 117 precise waypoints with total movement distance of 0.495." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_487", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 109, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_487.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_107", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_107/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_107/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_107/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.129, 0.564]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.713, 0.452]). The trajectory involves 95 precise waypoints with total movement distance of 0.654." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_107", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 29, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_107.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_905", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_905/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_905/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_905/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.298, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.744, 0.513]). The trajectory involves 67 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_905", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 22, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_905.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_933", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_933/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_933/frame_0189.jpg", + "maniskill/PegInsertionSide/images/episode_933/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.138, 0.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.350]). The trajectory involves 126 precise waypoints with total movement distance of 0.645." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_933", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 115, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_933.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_930", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_930/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_930/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_930/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.463]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.710, 0.551]). The trajectory involves 93 precise waypoints with total movement distance of 0.439." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_930", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 85, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_930.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_781", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_781/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_781/frame_0096.jpg", + "maniskill/PegInsertionSide/images/episode_781/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.352, 0.581]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.564, 0.532]). The trajectory involves 62 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_781", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 53, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_781.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_79", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_79/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_79/frame_0136.jpg", + "maniskill/PegInsertionSide/images/episode_79/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.609, 0.520]). The trajectory involves 90 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_79", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 80, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_79.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_117", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_117/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_117/frame_0094.jpg", + "maniskill/PegInsertionSide/images/episode_117/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.219, 0.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 0.540]). The trajectory involves 106 precise waypoints with total movement distance of 0.608." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_117", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 29, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_117.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_114", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_114/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_114/frame_0149.jpg", + "maniskill/PegInsertionSide/images/episode_114/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.367, 0.462]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.661, 0.467]). The trajectory involves 96 precise waypoints with total movement distance of 0.355." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_114", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 88, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_114.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_887", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_887/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_887/frame_0169.jpg", + "maniskill/PegInsertionSide/images/episode_887/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.151, 0.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.619, 0.388]). The trajectory involves 115 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_887", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 104, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_887.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_523", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_523/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_523/frame_0184.jpg", + "maniskill/PegInsertionSide/images/episode_523/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.192, 0.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.376]). The trajectory involves 114 precise waypoints with total movement distance of 0.425." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_523", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 103, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_523.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_502", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_502/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_502/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_502/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.585]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.568, 0.439]). The trajectory involves 71 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_502", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 61, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_502.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_579", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_579/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_579/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_579/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.681, 0.476]). The trajectory involves 74 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_579", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_579.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_162", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_162/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_162/frame_0174.jpg", + "maniskill/PegInsertionSide/images/episode_162/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.214, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.685, 0.496]). The trajectory involves 123 precise waypoints with total movement distance of 0.555." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_162", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 113, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_162.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_139", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_139/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_139/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_139/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.625]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.543, 0.501]). The trajectory involves 82 precise waypoints with total movement distance of 0.351." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_139", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 72, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_139.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_207", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_207/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_207/frame_0089.jpg", + "maniskill/PegInsertionSide/images/episode_207/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.140, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.632, 0.425]). The trajectory involves 105 precise waypoints with total movement distance of 0.568." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_207", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 32, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_207.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_364", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_364/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_364/frame_0173.jpg", + "maniskill/PegInsertionSide/images/episode_364/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.222, 0.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.365]). The trajectory involves 122 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_364", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 112, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_364.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_474", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_474/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_474/frame_0184.jpg", + "maniskill/PegInsertionSide/images/episode_474/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.192, 0.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.518, 0.376]). The trajectory involves 114 precise waypoints with total movement distance of 0.425." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_474", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 103, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_474.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_186", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_186/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_186/frame_0136.jpg", + "maniskill/PegInsertionSide/images/episode_186/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.586, 0.478]). The trajectory involves 94 precise waypoints with total movement distance of 0.313." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_186", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 85, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_186.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_718", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_718/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_718/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_718/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.307, 0.436]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.755, 0.533]). The trajectory involves 84 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_718", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 26, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_718.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_772", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_772/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_772/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_772/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.205, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.422]). The trajectory involves 111 precise waypoints with total movement distance of 0.581." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_772", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 33, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_772.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_436", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_436/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_436/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_436/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.225, 0.450]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.777, 0.365]). The trajectory involves 90 precise waypoints with total movement distance of 0.628." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_436", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 32, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_436.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_557", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_557/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_557/frame_0163.jpg", + "maniskill/PegInsertionSide/images/episode_557/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.702, 0.466]). The trajectory involves 109 precise waypoints with total movement distance of 0.441." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_557", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 98, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_557.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_848", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_848/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_848/frame_0171.jpg", + "maniskill/PegInsertionSide/images/episode_848/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.276, 0.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.612, 0.465]). The trajectory involves 108 precise waypoints with total movement distance of 0.425." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_848", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 98, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_848.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_142", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_142/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_142/frame_0180.jpg", + "maniskill/PegInsertionSide/images/episode_142/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.179, 0.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.402]). The trajectory involves 121 precise waypoints with total movement distance of 0.514." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_142", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 111, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_142.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_146", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_146/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_146/frame_0112.jpg", + "maniskill/PegInsertionSide/images/episode_146/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.554, 0.469]). The trajectory involves 78 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_146", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 69, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_146.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_738", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_738/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_738/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_738/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.252, 0.616]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.742, 0.421]). The trajectory involves 71 precise waypoints with total movement distance of 0.552." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_738", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 23, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_738.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_965", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_965/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_965/frame_0118.jpg", + "maniskill/PegInsertionSide/images/episode_965/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.260, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.499, 0.434]). The trajectory involves 79 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_965", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_965.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_827", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_827/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_827/frame_0084.jpg", + "maniskill/PegInsertionSide/images/episode_827/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.601]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.599, 0.368]). The trajectory involves 81 precise waypoints with total movement distance of 0.425." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_827", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 25, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_827.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_695", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_695/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_695/frame_0151.jpg", + "maniskill/PegInsertionSide/images/episode_695/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.632, 0.389]). The trajectory involves 100 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_695", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 89, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_695.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_681", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_681/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_681/frame_0125.jpg", + "maniskill/PegInsertionSide/images/episode_681/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.424]). The trajectory involves 81 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_681", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 71, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_681.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_783", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_783/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_783/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_783/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.579, 0.404]). The trajectory involves 96 precise waypoints with total movement distance of 0.355." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_783", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 86, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_783.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_382", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_382/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_382/frame_0192.jpg", + "maniskill/PegInsertionSide/images/episode_382/frame_0201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.125, 0.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.326]). The trajectory involves 130 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_382", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 120, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_382.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_901", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_901/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_901/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_901/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.265, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.735, 0.456]). The trajectory involves 83 precise waypoints with total movement distance of 0.533." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_901", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 25, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_901.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_691", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_691/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_691/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_691/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.307, 0.436]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.755, 0.533]). The trajectory involves 84 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_691", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 26, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_691.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_227", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_227/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_227/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_227/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.619]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.597, 0.443]). The trajectory involves 89 precise waypoints with total movement distance of 0.422." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_227", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 80, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_227.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_442", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_442/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_442/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_442/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.635]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.695, 0.357]). The trajectory involves 83 precise waypoints with total movement distance of 0.522." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_442", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 26, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_442.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_565", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_565/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_565/frame_0117.jpg", + "maniskill/PegInsertionSide/images/episode_565/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.259, 0.525]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.523, 0.394]). The trajectory involves 77 precise waypoints with total movement distance of 0.391." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_565", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 66, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_565.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_778", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_778/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_778/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_778/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.131, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.593, 0.308]). The trajectory involves 103 precise waypoints with total movement distance of 0.608." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_778", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 36, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_778.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_155", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_155/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_155/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_155/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.314, 0.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.718, 0.458]). The trajectory involves 105 precise waypoints with total movement distance of 0.468." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_155", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 28, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_155.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_815", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_815/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_815/frame_0104.jpg", + "maniskill/PegInsertionSide/images/episode_815/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.377, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.558, 0.373]). The trajectory involves 68 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_815", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 60, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_815.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_3", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_3/frame_0035.jpg", + "maniskill/PegInsertionSide/images/episode_3/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_3/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.274, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.624, 0.418]). The trajectory involves 81 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_3", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 24, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_3.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_742", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_742/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_742/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_742/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.322, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.672, 0.495]). The trajectory involves 73 precise waypoints with total movement distance of 0.385." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_742", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_742.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_403", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_403/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_403/frame_0171.jpg", + "maniskill/PegInsertionSide/images/episode_403/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.336, 0.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.699, 0.460]). The trajectory involves 116 precise waypoints with total movement distance of 0.445." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_403", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 105, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_403.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_654", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_654/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_654/frame_0180.jpg", + "maniskill/PegInsertionSide/images/episode_654/frame_0187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.156, 0.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.520]). The trajectory involves 119 precise waypoints with total movement distance of 0.470." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_654", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 111, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_654.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_129", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_129/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_129/frame_0105.jpg", + "maniskill/PegInsertionSide/images/episode_129/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.345, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.763, 0.566]). The trajectory involves 72 precise waypoints with total movement distance of 0.441." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_129", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 62, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_129.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_883", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_883/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_883/frame_0176.jpg", + "maniskill/PegInsertionSide/images/episode_883/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.243, 0.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.740, 0.378]). The trajectory involves 118 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_883", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 107, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_883.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_862", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_862/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_862/frame_0172.jpg", + "maniskill/PegInsertionSide/images/episode_862/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.342, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.634, 0.378]). The trajectory involves 117 precise waypoints with total movement distance of 0.427." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_862", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 107, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_862.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_693", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_693/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_693/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_693/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.291, 0.587]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.711, 0.496]). The trajectory involves 80 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_693", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 22, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_693.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_782", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_782/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_782/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_782/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.284, 0.617]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.721, 0.488]). The trajectory involves 69 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_782", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 20, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_782.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_547", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_547/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_547/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_547/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.285, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.553, 0.528]). The trajectory involves 73 precise waypoints with total movement distance of 0.311." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_547", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 67, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_547.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_714", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_714/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_714/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_714/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.631]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.730, 0.456]). The trajectory involves 71 precise waypoints with total movement distance of 0.448." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_714", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_714.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_828", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_828/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_828/frame_0133.jpg", + "maniskill/PegInsertionSide/images/episode_828/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.550]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.396]). The trajectory involves 77 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_828", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 71, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_828.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_69", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_69/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_69/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_69/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.307, 0.580]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.613, 0.325]). The trajectory involves 90 precise waypoints with total movement distance of 0.497." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_69", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 28, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_69.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_727", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_727/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_727/frame_0159.jpg", + "maniskill/PegInsertionSide/images/episode_727/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.369, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.648, 0.452]). The trajectory involves 109 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_727", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 101, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_727.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_720", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_720/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_720/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_720/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.291, 0.587]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.711, 0.496]). The trajectory involves 80 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_720", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 22, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_720.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_830", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_830/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_830/frame_0171.jpg", + "maniskill/PegInsertionSide/images/episode_830/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.176, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.617, 0.433]). The trajectory involves 118 precise waypoints with total movement distance of 0.518." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_830", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 109, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_830.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_898", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_898/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_898/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_898/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.561, 0.417]). The trajectory involves 86 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_898", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 76, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_898.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_978", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_978/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_978/frame_0141.jpg", + "maniskill/PegInsertionSide/images/episode_978/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.356, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.469]). The trajectory involves 102 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_978", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 92, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_978.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_7", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_7/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_7/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_7/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.189, 0.511]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.657, 0.454]). The trajectory involves 82 precise waypoints with total movement distance of 0.505." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_7", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 25, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_7.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_328", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_328/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_328/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_328/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.245, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.623, 0.405]). The trajectory involves 78 precise waypoints with total movement distance of 0.422." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_328", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_328.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_489", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_489/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_489/frame_0107.jpg", + "maniskill/PegInsertionSide/images/episode_489/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.371, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.672, 0.432]). The trajectory involves 74 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_489", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 64, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_489.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_679", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_679/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_679/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_679/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.252, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.556, 0.395]). The trajectory involves 83 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_679", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 25, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_679.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_670", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_670/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_670/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_670/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.303, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.636, 0.535]). The trajectory involves 71 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_670", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 19, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_670.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_923", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_923/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_923/frame_0176.jpg", + "maniskill/PegInsertionSide/images/episode_923/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.243, 0.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.740, 0.378]). The trajectory involves 118 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_923", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 107, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_923.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_510", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_510/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_510/frame_0082.jpg", + "maniskill/PegInsertionSide/images/episode_510/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.259, 0.492]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.576, 0.491]). The trajectory involves 97 precise waypoints with total movement distance of 0.403." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_510", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 29, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_510.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_972", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_972/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_972/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_972/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.248, 0.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.651, 0.411]). The trajectory involves 108 precise waypoints with total movement distance of 0.508." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_972", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 29, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_972.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_376", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_376/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_376/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_376/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.240, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.608, 0.503]). The trajectory involves 76 precise waypoints with total movement distance of 0.423." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_376", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 20, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_376.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_245", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_245/frame_0000.jpg", + "maniskill/PegInsertionSide/images/episode_245/frame_0099.jpg", + "maniskill/PegInsertionSide/images/episode_245/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.511, 0.492]). The trajectory involves 107 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_245", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 99, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_245.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_390", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_390/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_390/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_390/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.328, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.626, 0.378]). The trajectory involves 77 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_390", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 21, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_390.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_86", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_86/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_86/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_86/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.202, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.518, 0.429]). The trajectory involves 81 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_86", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 26, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_86.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_996", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_996/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_996/frame_0120.jpg", + "maniskill/PegInsertionSide/images/episode_996/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.200, 0.580]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.528, 0.471]). The trajectory involves 90 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_996", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 78, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_996.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_232", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_232/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_232/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_232/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.332, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.624, 0.442]). The trajectory involves 69 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_232", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_232.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_385", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_385/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_385/frame_0096.jpg", + "maniskill/PegInsertionSide/images/episode_385/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.092, 0.619]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.550, 0.295]). The trajectory involves 97 precise waypoints with total movement distance of 0.612." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_385", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 36, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_385.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_947", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_947/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_947/frame_0168.jpg", + "maniskill/PegInsertionSide/images/episode_947/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.261, 0.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.673, 0.452]). The trajectory involves 117 precise waypoints with total movement distance of 0.545." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_947", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 109, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_947.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_963", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_963/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_963/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_963/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.199, 0.629]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.586, 0.379]). The trajectory involves 83 precise waypoints with total movement distance of 0.518." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_963", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 26, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_963.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_391", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_391/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_391/frame_0101.jpg", + "maniskill/PegInsertionSide/images/episode_391/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.192, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.381]). The trajectory involves 135 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_391", + "trajectory_length": 135, + "key_frame_indices": [ + 0, + 40, + 134 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_391.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_664", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_664/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_664/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_664/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.267, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.698, 0.387]). The trajectory involves 75 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_664", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_664.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_259", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_259/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_259/frame_0135.jpg", + "maniskill/PegInsertionSide/images/episode_259/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.397, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.572, 0.474]). The trajectory involves 86 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_259", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 76, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_259.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_721", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_721/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_721/frame_0127.jpg", + "maniskill/PegInsertionSide/images/episode_721/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.557, 0.466]). The trajectory involves 82 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_721", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 74, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_721.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_346", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_346/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_346/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_346/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.383, 0.596]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.652, 0.441]). The trajectory involves 91 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_346", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 81, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_346.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_805", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_805/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_805/frame_0152.jpg", + "maniskill/PegInsertionSide/images/episode_805/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.784, 0.364]). The trajectory involves 109 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_805", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 98, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_805.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_914", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_914/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_914/frame_0123.jpg", + "maniskill/PegInsertionSide/images/episode_914/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.316]). The trajectory involves 83 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_914", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 71, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_914.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_8", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_8/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_8/frame_0123.jpg", + "maniskill/PegInsertionSide/images/episode_8/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.449]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.587, 0.324]). The trajectory involves 79 precise waypoints with total movement distance of 0.417." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_8", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 68, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_8.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_240", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_240/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_240/frame_0159.jpg", + "maniskill/PegInsertionSide/images/episode_240/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.290, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.556, 0.438]). The trajectory involves 111 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_240", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 102, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_240.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_723", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_723/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_723/frame_0187.jpg", + "maniskill/PegInsertionSide/images/episode_723/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.316, 0.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.690, 0.454]). The trajectory involves 114 precise waypoints with total movement distance of 0.451." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_723", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 106, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_723.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_587", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_587/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_587/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_587/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.292, 0.520]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.617, 0.436]). The trajectory involves 93 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_587", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 84, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_587.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_332", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_332/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_332/frame_0085.jpg", + "maniskill/PegInsertionSide/images/episode_332/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.106, 0.634]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.643, 0.421]). The trajectory involves 88 precise waypoints with total movement distance of 0.657." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_332", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 28, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_332.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_500", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_500/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_500/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_500/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.156, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.551, 0.448]). The trajectory involves 92 precise waypoints with total movement distance of 0.450." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_500", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 79, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_500.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_649", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_649/frame_0037.jpg", + "maniskill/PegInsertionSide/images/episode_649/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_649/frame_0101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.280, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.605, 0.490]). The trajectory involves 65 precise waypoints with total movement distance of 0.358." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_649", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 19, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_649.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_504", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_504/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_504/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_504/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.355, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.726, 0.473]). The trajectory involves 72 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_504", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_504.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_662", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_662/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_662/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_662/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.164, 0.463]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.712, 0.545]). The trajectory involves 93 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_662", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 27, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_662.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_284", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_284/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_284/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_284/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.397, 0.606]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.625, 0.429]). The trajectory involves 78 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_284", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 67, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_284.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_272", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_272/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_272/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_272/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.637]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.674, 0.509]). The trajectory involves 65 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_272", + "trajectory_length": 65, + "key_frame_indices": [ + 0, + 18, + 64 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_272.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_976", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_976/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_976/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_976/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.293, 0.438]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.593, 0.459]). The trajectory involves 74 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_976", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_976.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_174", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_174/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_174/frame_0104.jpg", + "maniskill/PegInsertionSide/images/episode_174/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.216, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.379]). The trajectory involves 129 precise waypoints with total movement distance of 0.590." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_174", + "trajectory_length": 129, + "key_frame_indices": [ + 0, + 40, + 128 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_174.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_289", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_289/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_289/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_289/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.522, 0.385]). The trajectory involves 78 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_289", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 66, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_289.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_529", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_529/frame_0036.jpg", + "maniskill/PegInsertionSide/images/episode_529/frame_0096.jpg", + "maniskill/PegInsertionSide/images/episode_529/frame_0106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.613, 0.405]). The trajectory involves 71 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_529", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 60, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_529.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_433", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_433/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_433/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_433/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.864, 0.448]). The trajectory involves 71 precise waypoints with total movement distance of 0.498." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_433", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 25, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_433.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_184", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_184/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_184/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_184/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.645, 0.408]). The trajectory involves 80 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_184", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 25, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_184.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_551", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_551/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_551/frame_0148.jpg", + "maniskill/PegInsertionSide/images/episode_551/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.433]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.493, 0.417]). The trajectory involves 91 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_551", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 81, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_551.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_104", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_104/frame_0083.jpg", + "maniskill/PegInsertionSide/images/episode_104/frame_0209.jpg", + "maniskill/PegInsertionSide/images/episode_104/frame_0216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.139, 0.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.513, 0.418]). The trajectory involves 134 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_104", + "trajectory_length": 134, + "key_frame_indices": [ + 0, + 126, + 133 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_104.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_949", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_949/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_949/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_949/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.215, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.744, 0.503]). The trajectory involves 105 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_949", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 34, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_949.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_196", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_196/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_196/frame_0102.jpg", + "maniskill/PegInsertionSide/images/episode_196/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.149, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.531]). The trajectory involves 114 precise waypoints with total movement distance of 0.613." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_196", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 36, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_196.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_65", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_65/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_65/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_65/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.212, 0.584]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.729, 0.476]). The trajectory involves 73 precise waypoints with total movement distance of 0.574." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_65", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_65.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_230", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_230/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_230/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_230/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.314, 0.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.580, 0.388]). The trajectory involves 101 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_230", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 92, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_230.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_197", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_197/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_197/frame_0147.jpg", + "maniskill/PegInsertionSide/images/episode_197/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.662, 0.569]). The trajectory involves 103 precise waypoints with total movement distance of 0.429." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_197", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 96, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_197.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_921", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_921/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_921/frame_0176.jpg", + "maniskill/PegInsertionSide/images/episode_921/frame_0186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.280, 0.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.355]). The trajectory involves 115 precise waypoints with total movement distance of 0.350." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_921", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 104, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_921.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_381", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_381/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_381/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_381/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.285, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.603, 0.428]). The trajectory involves 73 precise waypoints with total movement distance of 0.353." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_381", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_381.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_128", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_128/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_128/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_128/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.713, 0.393]). The trajectory involves 76 precise waypoints with total movement distance of 0.487." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_128", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 23, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_128.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_958", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_958/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_958/frame_0183.jpg", + "maniskill/PegInsertionSide/images/episode_958/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.184, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.585, 0.413]). The trajectory involves 128 precise waypoints with total movement distance of 0.519." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_958", + "trajectory_length": 128, + "key_frame_indices": [ + 0, + 118, + 127 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_958.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_560", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_560/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_560/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_560/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.126, 0.632]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.665, 0.493]). The trajectory involves 74 precise waypoints with total movement distance of 0.595." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_560", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_560.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_508", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_508/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_508/frame_0141.jpg", + "maniskill/PegInsertionSide/images/episode_508/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.336, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.673, 0.528]). The trajectory involves 92 precise waypoints with total movement distance of 0.421." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_508", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 82, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_508.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_788", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_788/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_788/frame_0084.jpg", + "maniskill/PegInsertionSide/images/episode_788/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.601]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.599, 0.368]). The trajectory involves 81 precise waypoints with total movement distance of 0.425." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_788", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 25, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_788.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_836", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_836/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_836/frame_0147.jpg", + "maniskill/PegInsertionSide/images/episode_836/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.311, 0.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.715, 0.383]). The trajectory involves 104 precise waypoints with total movement distance of 0.461." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_836", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 97, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_836.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_735", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_735/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_735/frame_0181.jpg", + "maniskill/PegInsertionSide/images/episode_735/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.152, 0.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.648, 0.440]). The trajectory involves 123 precise waypoints with total movement distance of 0.581." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_735", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 115, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_735.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_143", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_143/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_143/frame_0119.jpg", + "maniskill/PegInsertionSide/images/episode_143/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.499]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.637, 0.483]). The trajectory involves 86 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_143", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 77, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_143.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_908", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_908/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_908/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_908/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.283, 0.620]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.613, 0.456]). The trajectory involves 92 precise waypoints with total movement distance of 0.429." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_908", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_908.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_475", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_475/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_475/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_475/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.259, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.628, 0.329]). The trajectory involves 81 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_475", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 25, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_475.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_944", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_944/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_944/frame_0165.jpg", + "maniskill/PegInsertionSide/images/episode_944/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.211, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.544, 0.418]). The trajectory involves 113 precise waypoints with total movement distance of 0.421." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_944", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 105, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_944.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_849", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_849/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_849/frame_0184.jpg", + "maniskill/PegInsertionSide/images/episode_849/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.181, 0.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.599, 0.440]). The trajectory involves 124 precise waypoints with total movement distance of 0.525." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_849", + "trajectory_length": 124, + "key_frame_indices": [ + 0, + 115, + 123 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_849.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_420", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_420/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_420/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_420/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.732, 0.376]). The trajectory involves 89 precise waypoints with total movement distance of 0.472." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_420", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 26, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_420.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_796", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_796/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_796/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_796/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.177, 0.509]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.501, 0.406]). The trajectory involves 79 precise waypoints with total movement distance of 0.371." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_796", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_796.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_458", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_458/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_458/frame_0181.jpg", + "maniskill/PegInsertionSide/images/episode_458/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.156, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.657, 0.440]). The trajectory involves 121 precise waypoints with total movement distance of 0.584." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_458", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 112, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_458.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_481", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_481/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_481/frame_0121.jpg", + "maniskill/PegInsertionSide/images/episode_481/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.436]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.594, 0.477]). The trajectory involves 83 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_481", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 75, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_481.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_222", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_222/frame_0036.jpg", + "maniskill/PegInsertionSide/images/episode_222/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_222/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.296, 0.518]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.637, 0.455]). The trajectory involves 69 precise waypoints with total movement distance of 0.377." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_222", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_222.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_387", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_387/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_387/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_387/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.187, 0.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.399]). The trajectory involves 125 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_387", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 114, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_387.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_647", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_647/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_647/frame_0127.jpg", + "maniskill/PegInsertionSide/images/episode_647/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.724, 0.581]). The trajectory involves 91 precise waypoints with total movement distance of 0.465." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_647", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 82, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_647.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_337", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_337/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_337/frame_0165.jpg", + "maniskill/PegInsertionSide/images/episode_337/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.298, 0.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.739, 0.492]). The trajectory involves 111 precise waypoints with total movement distance of 0.506." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_337", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 101, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_337.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_208", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_208/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_208/frame_0132.jpg", + "maniskill/PegInsertionSide/images/episode_208/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.250, 0.608]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.632, 0.428]). The trajectory involves 89 precise waypoints with total movement distance of 0.467." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_208", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 77, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_208.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_885", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_885/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_885/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_885/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.247, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.425]). The trajectory involves 72 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_885", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 61, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_885.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_498", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_498/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_498/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_498/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.285, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.553, 0.528]). The trajectory involves 73 precise waypoints with total movement distance of 0.311." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_498", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 67, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_498.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_946", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_946/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_946/frame_0160.jpg", + "maniskill/PegInsertionSide/images/episode_946/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.236, 0.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.724, 0.422]). The trajectory involves 110 precise waypoints with total movement distance of 0.566." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_946", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 99, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_946.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_640", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_640/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_640/frame_0100.jpg", + "maniskill/PegInsertionSide/images/episode_640/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.397, 0.470]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.534, 0.463]). The trajectory involves 66 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_640", + "trajectory_length": 66, + "key_frame_indices": [ + 0, + 56, + 65 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_640.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_864", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_864/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_864/frame_0112.jpg", + "maniskill/PegInsertionSide/images/episode_864/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.357, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.510, 0.392]). The trajectory involves 76 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_864", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 65, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_864.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_133", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_133/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_133/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_133/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.197, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.634, 0.335]). The trajectory involves 76 precise waypoints with total movement distance of 0.520." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_133", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 25, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_133.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_791", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_791/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_791/frame_0171.jpg", + "maniskill/PegInsertionSide/images/episode_791/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.176, 0.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.617, 0.433]). The trajectory involves 118 precise waypoints with total movement distance of 0.518." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_791", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 109, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_791.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_413", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_413/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_413/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_413/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.301, 0.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.423]). The trajectory involves 117 precise waypoints with total movement distance of 0.411." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_413", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 107, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_413.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_370", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_370/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_370/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_370/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.145, 0.629]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.658, 0.466]). The trajectory involves 79 precise waypoints with total movement distance of 0.602." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_370", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_370.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_268", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_268/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_268/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_268/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.251, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.413]). The trajectory involves 70 precise waypoints with total movement distance of 0.379." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_268", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 20, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_268.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_759", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_759/frame_0036.jpg", + "maniskill/PegInsertionSide/images/episode_759/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_759/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.530]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.877, 0.421]). The trajectory involves 79 precise waypoints with total movement distance of 0.626." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_759", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_759.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_527", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_527/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_527/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_527/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.261, 0.438]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.626, 0.484]). The trajectory involves 98 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_527", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 27, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_527.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_394", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_394/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_394/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_394/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.623]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.540, 0.424]). The trajectory involves 74 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_394", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 63, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_394.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_200", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_200/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_200/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_200/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.258, 0.541]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.676, 0.461]). The trajectory involves 70 precise waypoints with total movement distance of 0.469." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_200", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 20, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_200.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_724", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_724/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_724/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_724/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.242, 0.574]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.504, 0.428]). The trajectory involves 89 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_724", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 79, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_724.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_520", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_520/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_520/frame_0153.jpg", + "maniskill/PegInsertionSide/images/episode_520/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.304, 0.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 0.432]). The trajectory involves 105 precise waypoints with total movement distance of 0.379." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_520", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 95, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_520.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_764", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_764/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_764/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_764/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.630]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.409]). The trajectory involves 84 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_764", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_764.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_351", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_351/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_351/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_351/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.189, 0.579]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.651, 0.464]). The trajectory involves 81 precise waypoints with total movement distance of 0.511." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_351", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 25, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_351.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_457", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_457/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_457/frame_0109.jpg", + "maniskill/PegInsertionSide/images/episode_457/frame_0202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.136, 0.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.640, 0.410]). The trajectory involves 138 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_457", + "trajectory_length": 138, + "key_frame_indices": [ + 0, + 44, + 137 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_457.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_973", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_973/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_973/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_973/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.319, 0.620]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.692, 0.440]). The trajectory involves 93 precise waypoints with total movement distance of 0.520." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_973", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 83, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_973.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_526", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_526/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_526/frame_0148.jpg", + "maniskill/PegInsertionSide/images/episode_526/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 0.392]). The trajectory involves 105 precise waypoints with total movement distance of 0.367." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_526", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 94, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_526.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_56", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_56/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_56/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_56/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.300, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.639, 0.406]). The trajectory involves 75 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_56", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 25, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_56.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_636", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_636/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_636/frame_0118.jpg", + "maniskill/PegInsertionSide/images/episode_636/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.366, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.530, 0.433]). The trajectory involves 84 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_636", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 73, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_636.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_831", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_831/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_831/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_831/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.214, 0.616]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.411]). The trajectory involves 89 precise waypoints with total movement distance of 0.495." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_831", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 29, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_831.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_802", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_802/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_802/frame_0163.jpg", + "maniskill/PegInsertionSide/images/episode_802/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.722, 0.335]). The trajectory involves 119 precise waypoints with total movement distance of 0.538." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_802", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 110, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_802.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_348", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_348/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_348/frame_0177.jpg", + "maniskill/PegInsertionSide/images/episode_348/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.183, 0.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.503, 0.475]). The trajectory involves 114 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_348", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 105, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_348.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_445", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_445/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_445/frame_0167.jpg", + "maniskill/PegInsertionSide/images/episode_445/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.180, 0.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.499]). The trajectory involves 109 precise waypoints with total movement distance of 0.423." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_445", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 99, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_445.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_283", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_283/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_283/frame_0142.jpg", + "maniskill/PegInsertionSide/images/episode_283/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.335, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.740, 0.553]). The trajectory involves 96 precise waypoints with total movement distance of 0.485." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_283", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 89, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_283.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_690", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_690/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_690/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_690/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.638, 0.397]). The trajectory involves 88 precise waypoints with total movement distance of 0.338." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_690", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 79, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_690.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_660", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_660/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_660/frame_0105.jpg", + "maniskill/PegInsertionSide/images/episode_660/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.220, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.533, 0.334]). The trajectory involves 72 precise waypoints with total movement distance of 0.383." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_660", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 61, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_660.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_33", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_33/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_33/frame_0109.jpg", + "maniskill/PegInsertionSide/images/episode_33/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.321, 0.570]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.579, 0.476]). The trajectory involves 68 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_33", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 58, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_33.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_688", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_688/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_688/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_688/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.478]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.652, 0.502]). The trajectory involves 75 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_688", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 66, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_688.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_577", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_577/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_577/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_577/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.140, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.666, 0.436]). The trajectory involves 79 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_577", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 23, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_577.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_992", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_992/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_992/frame_0163.jpg", + "maniskill/PegInsertionSide/images/episode_992/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.246, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.695, 0.503]). The trajectory involves 110 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_992", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 101, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_992.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_854", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_854/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_854/frame_0142.jpg", + "maniskill/PegInsertionSide/images/episode_854/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.353, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.573, 0.466]). The trajectory involves 97 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_854", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 88, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_854.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_995", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_995/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_995/frame_0180.jpg", + "maniskill/PegInsertionSide/images/episode_995/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.277, 0.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.691, 0.481]). The trajectory involves 119 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_995", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 109, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_995.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_254", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_254/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_254/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_254/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.182, 0.625]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.781, 0.380]). The trajectory involves 79 precise waypoints with total movement distance of 0.703." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_254", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 26, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_254.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_710", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_710/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_710/frame_0161.jpg", + "maniskill/PegInsertionSide/images/episode_710/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.192, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.724, 0.420]). The trajectory involves 113 precise waypoints with total movement distance of 0.621." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_710", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 102, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_710.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_373", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_373/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_373/frame_0157.jpg", + "maniskill/PegInsertionSide/images/episode_373/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.497]). The trajectory involves 103 precise waypoints with total movement distance of 0.402." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_373", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 94, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_373.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_739", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_739/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_739/frame_0136.jpg", + "maniskill/PegInsertionSide/images/episode_739/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.568, 0.494]). The trajectory involves 85 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_739", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 75, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_739.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_82", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_82/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_82/frame_0083.jpg", + "maniskill/PegInsertionSide/images/episode_82/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.172, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.491]). The trajectory involves 91 precise waypoints with total movement distance of 0.400." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_82", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 28, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_82.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_459", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_459/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_459/frame_0141.jpg", + "maniskill/PegInsertionSide/images/episode_459/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.336, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.673, 0.528]). The trajectory involves 92 precise waypoints with total movement distance of 0.421." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_459", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 82, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_459.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_989", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_989/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_989/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_989/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.214, 0.436]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.567, 0.455]). The trajectory involves 95 precise waypoints with total movement distance of 0.437." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_989", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 28, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_989.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_683", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_683/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_683/frame_0161.jpg", + "maniskill/PegInsertionSide/images/episode_683/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.192, 0.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.724, 0.420]). The trajectory involves 113 precise waypoints with total movement distance of 0.621." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_683", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 102, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_683.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_125", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_125/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_125/frame_0141.jpg", + "maniskill/PegInsertionSide/images/episode_125/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.343, 0.567]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.748, 0.403]). The trajectory involves 98 precise waypoints with total movement distance of 0.522." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_125", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 88, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_125.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_785", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_785/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_785/frame_0222.jpg", + "maniskill/PegInsertionSide/images/episode_785/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.207, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.731, 0.317]). The trajectory involves 158 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_785", + "trajectory_length": 158, + "key_frame_indices": [ + 0, + 145, + 157 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_785.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_303", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_303/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_303/frame_0101.jpg", + "maniskill/PegInsertionSide/images/episode_303/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.131, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.337]). The trajectory involves 120 precise waypoints with total movement distance of 0.547." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_303", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 37, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_303.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_960", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_960/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_960/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_960/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.300, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.600, 0.417]). The trajectory involves 72 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_960", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_960.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_388", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_388/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_388/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_388/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.270, 0.527]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.704, 0.498]). The trajectory involves 89 precise waypoints with total movement distance of 0.518." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_388", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 24, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_388.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_258", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_258/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_258/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_258/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.268, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 0.496]). The trajectory involves 104 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_258", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 28, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_258.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_48", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_48/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_48/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_48/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.223, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.642, 0.450]). The trajectory involves 86 precise waypoints with total movement distance of 0.494." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_48", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_48.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_590", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_590/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_590/frame_0175.jpg", + "maniskill/PegInsertionSide/images/episode_590/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.335, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.610, 0.430]). The trajectory involves 120 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_590", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 113, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_590.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_415", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_415/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_415/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_415/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.616]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.651, 0.374]). The trajectory involves 78 precise waypoints with total movement distance of 0.457." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_415", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_415.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_719", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_719/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_719/frame_0132.jpg", + "maniskill/PegInsertionSide/images/episode_719/frame_0141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.379, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.694, 0.400]). The trajectory involves 84 precise waypoints with total movement distance of 0.365." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_719", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 74, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_719.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_67", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_67/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_67/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_67/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.159, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.594, 0.525]). The trajectory involves 91 precise waypoints with total movement distance of 0.531." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_67", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 27, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_67.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_814", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_814/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_814/frame_0105.jpg", + "maniskill/PegInsertionSide/images/episode_814/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.342, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.651, 0.407]). The trajectory involves 70 precise waypoints with total movement distance of 0.359." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_814", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 61, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_814.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_465", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_465/frame_0086.jpg", + "maniskill/PegInsertionSide/images/episode_465/frame_0211.jpg", + "maniskill/PegInsertionSide/images/episode_465/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.124, 0.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 0.393]). The trajectory involves 135 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_465", + "trajectory_length": 135, + "key_frame_indices": [ + 0, + 125, + 134 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_465.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_47", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_47/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_47/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_47/frame_0107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.350, 0.549]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.586, 0.491]). The trajectory involves 64 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_47", + "trajectory_length": 64, + "key_frame_indices": [ + 0, + 19, + 63 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_47.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_820", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_820/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_820/frame_0096.jpg", + "maniskill/PegInsertionSide/images/episode_820/frame_0104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.352, 0.581]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.564, 0.532]). The trajectory involves 62 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_820", + "trajectory_length": 62, + "key_frame_indices": [ + 0, + 53, + 61 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_820.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_443", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_443/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_443/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_443/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.743, 0.472]). The trajectory involves 91 precise waypoints with total movement distance of 0.422." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_443", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 81, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_443.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_473", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_473/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_473/frame_0156.jpg", + "maniskill/PegInsertionSide/images/episode_473/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.541]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.509]). The trajectory involves 101 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_473", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 92, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_473.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_929", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_929/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_929/frame_0165.jpg", + "maniskill/PegInsertionSide/images/episode_929/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.133, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.617, 0.422]). The trajectory involves 112 precise waypoints with total movement distance of 0.594." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_929", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 102, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_929.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_839", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_839/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_839/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_839/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.294, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.670, 0.406]). The trajectory involves 77 precise waypoints with total movement distance of 0.422." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_839", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 22, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_839.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_757", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_757/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_757/frame_0129.jpg", + "maniskill/PegInsertionSide/images/episode_757/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.366, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.683, 0.496]). The trajectory involves 83 precise waypoints with total movement distance of 0.374." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_757", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 74, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_757.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_763", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_763/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_763/frame_0163.jpg", + "maniskill/PegInsertionSide/images/episode_763/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.722, 0.335]). The trajectory involves 119 precise waypoints with total movement distance of 0.538." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_763", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 110, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_763.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_638", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_638/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_638/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_638/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.194, 0.450]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.797, 0.380]). The trajectory involves 81 precise waypoints with total movement distance of 0.663." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_638", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 27, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_638.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_751", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_751/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_751/frame_0151.jpg", + "maniskill/PegInsertionSide/images/episode_751/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.344, 0.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.725, 0.445]). The trajectory involves 103 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_751", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 93, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_751.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_401", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_401/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_401/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_401/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.279, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.720, 0.493]). The trajectory involves 98 precise waypoints with total movement distance of 0.550." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_401", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 27, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_401.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_621", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_621/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_621/frame_0169.jpg", + "maniskill/PegInsertionSide/images/episode_621/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.288, 0.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.304]). The trajectory involves 114 precise waypoints with total movement distance of 0.576." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_621", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 103, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_621.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_456", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_456/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_456/frame_0149.jpg", + "maniskill/PegInsertionSide/images/episode_456/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.680, 0.517]). The trajectory involves 104 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_456", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 94, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_456.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_511", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_511/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_511/frame_0118.jpg", + "maniskill/PegInsertionSide/images/episode_511/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.527, 0.350]). The trajectory involves 88 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_511", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 77, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_511.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_483", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_483/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_483/frame_0103.jpg", + "maniskill/PegInsertionSide/images/episode_483/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.581]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.588, 0.456]). The trajectory involves 71 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_483", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 62, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_483.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_576", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_576/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_576/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_576/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.595]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.761, 0.428]). The trajectory involves 79 precise waypoints with total movement distance of 0.549." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_576", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 23, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_576.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_347", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_347/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_347/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_347/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.178, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.639, 0.334]). The trajectory involves 87 precise waypoints with total movement distance of 0.534." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_347", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 24, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_347.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_760", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_760/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_760/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_760/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.257, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.678, 0.451]). The trajectory involves 100 precise waypoints with total movement distance of 0.474." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_760", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 91, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_760.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_984", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_984/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_984/frame_0157.jpg", + "maniskill/PegInsertionSide/images/episode_984/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.162, 0.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.496]). The trajectory involves 104 precise waypoints with total movement distance of 0.457." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_984", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 95, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_984.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_505", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_505/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_505/frame_0149.jpg", + "maniskill/PegInsertionSide/images/episode_505/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.680, 0.517]). The trajectory involves 104 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_505", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 94, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_505.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_183", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_183/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_183/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_183/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.249, 0.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.705, 0.395]). The trajectory involves 107 precise waypoints with total movement distance of 0.534." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_183", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 96, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_183.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_609", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_609/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_609/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_609/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.349, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.536, 0.428]). The trajectory involves 79 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_609", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_609.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_600", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_600/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_600/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_600/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.444]). The trajectory involves 71 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_600", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 61, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_600.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_745", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_745/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_745/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_745/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.229, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.570, 0.358]). The trajectory involves 74 precise waypoints with total movement distance of 0.418." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_745", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_745.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_251", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_251/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_251/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_251/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.588, 0.437]). The trajectory involves 67 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_251", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_251.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_89", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_89/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_89/frame_0127.jpg", + "maniskill/PegInsertionSide/images/episode_89/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.282, 0.531]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.466]). The trajectory involves 83 precise waypoints with total movement distance of 0.312." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_89", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 72, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_89.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_964", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_964/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_964/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_964/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.220, 0.579]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.766, 0.439]). The trajectory involves 80 precise waypoints with total movement distance of 0.606." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_964", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 24, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_964.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_496", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_496/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_496/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_496/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.190, 0.516]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.632, 0.507]). The trajectory involves 91 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_496", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 29, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_496.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_321", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_321/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_321/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_321/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.153, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.643, 0.508]). The trajectory involves 100 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_321", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 30, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_321.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_699", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_699/frame_0000.jpg", + "maniskill/PegInsertionSide/images/episode_699/frame_0125.jpg", + "maniskill/PegInsertionSide/images/episode_699/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.496, 0.406]). The trajectory involves 136 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_699", + "trajectory_length": 136, + "key_frame_indices": [ + 0, + 125, + 135 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_699.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_435", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_435/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_435/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_435/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.623]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.540, 0.424]). The trajectory involves 74 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_435", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 63, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_435.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_601", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_601/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_601/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_601/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.655, 0.450]). The trajectory involves 85 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_601", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 75, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_601.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_604", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_604/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_604/frame_0122.jpg", + "maniskill/PegInsertionSide/images/episode_604/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.350, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.694, 0.545]). The trajectory involves 86 precise waypoints with total movement distance of 0.388." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_604", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 76, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_604.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_713", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_713/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_713/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_713/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.159, 0.563]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.768, 0.365]). The trajectory involves 78 precise waypoints with total movement distance of 0.685." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_713", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 25, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_713.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_894", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_894/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_894/frame_0160.jpg", + "maniskill/PegInsertionSide/images/episode_894/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.469]). The trajectory involves 109 precise waypoints with total movement distance of 0.424." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_894", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 101, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_894.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_195", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_195/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_195/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_195/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.332, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.624, 0.442]). The trajectory involves 69 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_195", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 21, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_195.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_731", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_731/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_731/frame_0158.jpg", + "maniskill/PegInsertionSide/images/episode_731/frame_0168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.383, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.753, 0.523]). The trajectory involves 113 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_731", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 102, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_731.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_801", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_801/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_801/frame_0192.jpg", + "maniskill/PegInsertionSide/images/episode_801/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.171, 0.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.673, 0.519]). The trajectory involves 124 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_801", + "trajectory_length": 124, + "key_frame_indices": [ + 0, + 115, + 123 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_801.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_765", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_765/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_765/frame_0143.jpg", + "maniskill/PegInsertionSide/images/episode_765/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.223, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.519, 0.527]). The trajectory involves 96 precise waypoints with total movement distance of 0.348." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_765", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 87, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_765.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_233", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_233/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_233/frame_0102.jpg", + "maniskill/PegInsertionSide/images/episode_233/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.149, 0.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.653, 0.531]). The trajectory involves 114 precise waypoints with total movement distance of 0.613." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_233", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 36, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_233.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_468", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_468/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_468/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_468/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.307, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.819, 0.456]). The trajectory involves 88 precise waypoints with total movement distance of 0.582." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_468", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 24, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_468.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_852", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_852/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_852/frame_0090.jpg", + "maniskill/PegInsertionSide/images/episode_852/frame_0163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.715, 0.446]). The trajectory involves 103 precise waypoints with total movement distance of 0.439." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_852", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 29, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_852.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_641", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_641/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_641/frame_0151.jpg", + "maniskill/PegInsertionSide/images/episode_641/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.182, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.577, 0.477]). The trajectory involves 102 precise waypoints with total movement distance of 0.449." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_641", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 93, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_641.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_922", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_922/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_922/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_922/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.271, 0.598]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.500, 0.430]). The trajectory involves 95 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_922", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 85, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_922.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_431", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_431/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_431/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_431/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.328, 0.489]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.626, 0.378]). The trajectory involves 77 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_431", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 21, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_431.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_4", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_4/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_4/frame_0180.jpg", + "maniskill/PegInsertionSide/images/episode_4/frame_0187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.196, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 0.533]). The trajectory involves 118 precise waypoints with total movement distance of 0.455." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_4", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 110, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_4.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_182", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_182/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_182/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_182/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.473]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.672, 0.498]). The trajectory involves 72 precise waypoints with total movement distance of 0.434." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_182", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 23, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_182.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_676", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_676/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_676/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_676/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.290, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.546, 0.452]). The trajectory involves 77 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_676", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 67, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_676.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_927", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_927/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_927/frame_0169.jpg", + "maniskill/PegInsertionSide/images/episode_927/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.151, 0.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.619, 0.388]). The trajectory involves 115 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_927", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 104, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_927.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_842", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_842/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_842/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_842/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.198, 0.633]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.661, 0.517]). The trajectory involves 72 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_842", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 24, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_842.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_799", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_799/frame_0037.jpg", + "maniskill/PegInsertionSide/images/episode_799/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_799/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.297, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.526, 0.472]). The trajectory involves 79 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_799", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_799.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_324", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_324/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_324/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_324/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.469]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.679, 0.429]). The trajectory involves 72 precise waypoints with total movement distance of 0.338." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_324", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_324.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_678", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_678/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_678/frame_0131.jpg", + "maniskill/PegInsertionSide/images/episode_678/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.587, 0.469]). The trajectory involves 83 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_678", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 74, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_678.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_689", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_689/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_689/frame_0109.jpg", + "maniskill/PegInsertionSide/images/episode_689/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.279, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.601, 0.500]). The trajectory involves 78 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_689", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 67, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_689.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_810", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_810/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_810/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_810/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.252, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.634, 0.432]). The trajectory involves 73 precise waypoints with total movement distance of 0.420." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_810", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 23, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_810.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_422", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_422/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_422/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_422/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.285, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.603, 0.428]). The trajectory involves 73 precise waypoints with total movement distance of 0.353." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_422", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 21, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_422.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_472", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_472/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_472/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_472/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.336]). The trajectory involves 73 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_472", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 61, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_472.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_994", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_994/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_994/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_994/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.209, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.601, 0.484]). The trajectory involves 88 precise waypoints with total movement distance of 0.444." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_994", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 24, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_994.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_938", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_938/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_938/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_938/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.561, 0.417]). The trajectory involves 86 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_938", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 76, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_938.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_22", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_22/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_22/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_22/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.320, 0.612]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.715, 0.519]). The trajectory involves 92 precise waypoints with total movement distance of 0.457." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_22", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 82, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_22.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_642", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_642/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_642/frame_0135.jpg", + "maniskill/PegInsertionSide/images/episode_642/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.170, 0.440]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.339]). The trajectory involves 96 precise waypoints with total movement distance of 0.440." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_642", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 85, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_642.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_585", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_585/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_585/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_585/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.291, 0.622]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.614, 0.502]). The trajectory involves 81 precise waypoints with total movement distance of 0.410." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_585", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 23, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_585.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_669", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_669/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_669/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_669/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.396, 0.579]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.623, 0.370]). The trajectory involves 92 precise waypoints with total movement distance of 0.370." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_669", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 82, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_669.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_281", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_281/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_281/frame_0197.jpg", + "maniskill/PegInsertionSide/images/episode_281/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.127, 0.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.548, 0.449]). The trajectory involves 130 precise waypoints with total movement distance of 0.519." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_281", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 119, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_281.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_444", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_444/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_444/frame_0166.jpg", + "maniskill/PegInsertionSide/images/episode_444/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.252, 0.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.586, 0.404]). The trajectory involves 113 precise waypoints with total movement distance of 0.436." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_444", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 104, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_444.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_212", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_212/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_212/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_212/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.153, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.477]). The trajectory involves 125 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_212", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 42, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_212.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_936", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_936/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_936/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_936/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.381, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.615, 0.493]). The trajectory involves 87 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_936", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 78, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_936.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_255", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_255/frame_0082.jpg", + "maniskill/PegInsertionSide/images/episode_255/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_255/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.222, 0.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.628, 0.483]). The trajectory involves 116 precise waypoints with total movement distance of 0.496." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_255", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 106, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_255.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_238", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_238/frame_0036.jpg", + "maniskill/PegInsertionSide/images/episode_238/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_238/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.705, 0.429]). The trajectory involves 82 precise waypoints with total movement distance of 0.426." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_238", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 24, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_238.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_806", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_806/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_806/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_806/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.196, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.611, 0.441]). The trajectory involves 77 precise waypoints with total movement distance of 0.457." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_806", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 22, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_806.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_148", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_148/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_148/frame_0150.jpg", + "maniskill/PegInsertionSide/images/episode_148/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.718, 0.407]). The trajectory involves 106 precise waypoints with total movement distance of 0.412." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_148", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 95, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_148.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_100", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_100/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_100/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_100/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.355, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.590, 0.410]). The trajectory involves 90 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_100", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 81, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_100.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_322", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_322/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_322/frame_0090.jpg", + "maniskill/PegInsertionSide/images/episode_322/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.083, 0.626]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.432]). The trajectory involves 93 precise waypoints with total movement distance of 0.577." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_322", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 30, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_322.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_934", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_934/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_934/frame_0160.jpg", + "maniskill/PegInsertionSide/images/episode_934/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.621, 0.469]). The trajectory involves 109 precise waypoints with total movement distance of 0.424." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_934", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 101, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_934.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_211", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_211/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_211/frame_0104.jpg", + "maniskill/PegInsertionSide/images/episode_211/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.216, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.664, 0.379]). The trajectory involves 129 precise waypoints with total movement distance of 0.590." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_211", + "trajectory_length": 129, + "key_frame_indices": [ + 0, + 40, + 128 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_211.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_439", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_439/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_439/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_439/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.471]). The trajectory involves 90 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_439", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 81, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_439.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_115", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_115/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_115/frame_0127.jpg", + "maniskill/PegInsertionSide/images/episode_115/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.275, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.584, 0.534]). The trajectory involves 90 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_115", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 80, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_115.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_524", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_524/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_524/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_524/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.259, 0.539]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.628, 0.329]). The trajectory involves 81 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_524", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 25, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_524.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_525", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_525/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_525/frame_0084.jpg", + "maniskill/PegInsertionSide/images/episode_525/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.190, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 0.362]). The trajectory involves 103 precise waypoints with total movement distance of 0.621." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_525", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 32, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_525.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_136", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_136/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_136/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_136/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.194, 0.589]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.499]). The trajectory involves 89 precise waypoints with total movement distance of 0.413." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_136", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 28, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_136.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_178", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_178/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_178/frame_0123.jpg", + "maniskill/PegInsertionSide/images/episode_178/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.309, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.578, 0.442]). The trajectory involves 84 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_178", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 74, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_178.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_602", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_602/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_602/frame_0140.jpg", + "maniskill/PegInsertionSide/images/episode_602/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.303, 0.576]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.509, 0.432]). The trajectory involves 97 precise waypoints with total movement distance of 0.350." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_602", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 87, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_602.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_871", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_871/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_871/frame_0116.jpg", + "maniskill/PegInsertionSide/images/episode_871/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.454]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.606, 0.344]). The trajectory involves 76 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_871", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 66, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_871.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_651", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_651/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_651/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_651/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.128, 0.613]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.591, 0.421]). The trajectory involves 87 precise waypoints with total movement distance of 0.557." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_651", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 30, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_651.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_515", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_515/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_515/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_515/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.456]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.686, 0.565]). The trajectory involves 94 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_515", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 84, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_515.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_860", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_860/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_860/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_860/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.763, 0.429]). The trajectory involves 78 precise waypoints with total movement distance of 0.469." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_860", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 69, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_860.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_360", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_360/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_360/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_360/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.279, 0.558]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.720, 0.493]). The trajectory involves 98 precise waypoints with total movement distance of 0.550." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_360", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 27, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_360.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_359", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_359/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_359/frame_0165.jpg", + "maniskill/PegInsertionSide/images/episode_359/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 0.422]). The trajectory involves 107 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_359", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 97, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_359.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_702", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_702/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_702/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_702/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.728, 0.451]). The trajectory involves 102 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_702", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 93, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_702.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_797", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_797/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_797/frame_0147.jpg", + "maniskill/PegInsertionSide/images/episode_797/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.311, 0.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.715, 0.383]). The trajectory involves 104 precise waypoints with total movement distance of 0.461." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_797", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 97, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_797.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_127", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_127/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_127/frame_0132.jpg", + "maniskill/PegInsertionSide/images/episode_127/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.278, 0.549]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.553, 0.348]). The trajectory involves 90 precise waypoints with total movement distance of 0.399." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_127", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 79, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_127.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_643", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_643/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_643/frame_0120.jpg", + "maniskill/PegInsertionSide/images/episode_643/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.292, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.540, 0.478]). The trajectory involves 86 precise waypoints with total movement distance of 0.351." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_643", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 75, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_643.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_59", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_59/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_59/frame_0181.jpg", + "maniskill/PegInsertionSide/images/episode_59/frame_0192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.214, 0.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.616, 0.406]). The trajectory involves 122 precise waypoints with total movement distance of 0.470." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_59", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 110, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_59.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_703", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_703/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_703/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_703/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.290, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.546, 0.452]). The trajectory involves 77 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_703", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 67, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_703.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_50", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_50/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_50/frame_0146.jpg", + "maniskill/PegInsertionSide/images/episode_50/frame_0154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.244, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.534, 0.440]). The trajectory involves 104 precise waypoints with total movement distance of 0.442." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_50", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 95, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_50.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_152", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_152/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_152/frame_0082.jpg", + "maniskill/PegInsertionSide/images/episode_152/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.195, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.651, 0.488]). The trajectory involves 92 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_152", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 27, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_152.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_968", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_968/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_968/frame_0154.jpg", + "maniskill/PegInsertionSide/images/episode_968/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.220, 0.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.495]). The trajectory involves 102 precise waypoints with total movement distance of 0.476." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_968", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 93, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_968.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_534", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_534/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_534/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_534/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.185, 0.607]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.733, 0.482]). The trajectory involves 88 precise waypoints with total movement distance of 0.656." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_534", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 25, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_534.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_57", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_57/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_57/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_57/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.207, 0.554]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.814, 0.359]). The trajectory involves 93 precise waypoints with total movement distance of 0.688." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_57", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_57.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_632", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_632/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_632/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_632/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.157, 0.469]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.636, 0.400]). The trajectory involves 90 precise waypoints with total movement distance of 0.525." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_632", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 26, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_632.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_53", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_53/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_53/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_53/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.216, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.672, 0.454]). The trajectory involves 125 precise waypoints with total movement distance of 0.544." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_53", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 117, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_53.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_26", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_26/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_26/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_26/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.182, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.419]). The trajectory involves 76 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_26", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 23, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_26.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_179", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_179/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_179/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_179/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.280, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.630, 0.477]). The trajectory involves 86 precise waypoints with total movement distance of 0.419." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_179", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 23, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_179.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_333", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_333/frame_0088.jpg", + "maniskill/PegInsertionSide/images/episode_333/frame_0206.jpg", + "maniskill/PegInsertionSide/images/episode_333/frame_0214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.097, 0.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.688, 0.477]). The trajectory involves 127 precise waypoints with total movement distance of 0.704." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_333", + "trajectory_length": 127, + "key_frame_indices": [ + 0, + 118, + 126 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_333.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_339", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_339/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_339/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_339/frame_0141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.343, 0.599]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.670, 0.443]). The trajectory involves 93 precise waypoints with total movement distance of 0.429." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_339", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 28, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_339.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_151", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_151/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_151/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_151/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.144, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.514, 0.286]). The trajectory involves 98 precise waypoints with total movement distance of 0.493." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_151", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 29, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_151.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_900", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_900/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_900/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_900/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.763, 0.429]). The trajectory involves 78 precise waypoints with total movement distance of 0.469." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_900", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 69, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_900.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_705", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_705/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_705/frame_0131.jpg", + "maniskill/PegInsertionSide/images/episode_705/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.604]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.587, 0.469]). The trajectory involves 83 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_705", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 74, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_705.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_299", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_299/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_299/frame_0180.jpg", + "maniskill/PegInsertionSide/images/episode_299/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.205, 0.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.410]). The trajectory involves 116 precise waypoints with total movement distance of 0.545." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_299", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 106, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_299.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_446", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_446/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_446/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_446/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.442]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.708, 0.416]). The trajectory involves 78 precise waypoints with total movement distance of 0.413." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_446", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_446.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_37", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_37/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_37/frame_0176.jpg", + "maniskill/PegInsertionSide/images/episode_37/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.316, 0.638]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.729, 0.423]). The trajectory involves 115 precise waypoints with total movement distance of 0.567." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_37", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 106, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_37.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_5", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_5/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_5/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_5/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.260, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.681, 0.366]). The trajectory involves 78 precise waypoints with total movement distance of 0.502." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_5", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_5.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_189", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_189/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_189/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_189/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.267, 0.620]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.661, 0.437]). The trajectory involves 70 precise waypoints with total movement distance of 0.451." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_189", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 23, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_189.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_72", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_72/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_72/frame_0176.jpg", + "maniskill/PegInsertionSide/images/episode_72/frame_0185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.150, 0.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.578, 0.355]). The trajectory involves 125 precise waypoints with total movement distance of 0.505." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_72", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 115, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_72.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_793", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_793/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_793/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_793/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.703, 0.507]). The trajectory involves 96 precise waypoints with total movement distance of 0.470." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_793", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 86, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_793.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_725", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_725/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_725/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_725/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.305, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.521, 0.551]). The trajectory involves 90 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_725", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 80, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_725.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_589", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_589/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_589/frame_0178.jpg", + "maniskill/PegInsertionSide/images/episode_589/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.143, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.712, 0.506]). The trajectory involves 126 precise waypoints with total movement distance of 0.667." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_589", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 115, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_589.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_668", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_668/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_668/frame_0135.jpg", + "maniskill/PegInsertionSide/images/episode_668/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.612, 0.451]). The trajectory involves 85 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_668", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 77, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_668.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_150", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_150/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_150/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_150/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.207, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.573, 0.414]). The trajectory involves 81 precise waypoints with total movement distance of 0.411." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_150", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 24, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_150.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_886", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_886/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_886/frame_0152.jpg", + "maniskill/PegInsertionSide/images/episode_886/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.346, 0.432]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.571, 0.473]). The trajectory involves 93 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_886", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 85, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_886.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_494", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_494/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_494/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_494/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.451]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.723, 0.463]). The trajectory involves 94 precise waypoints with total movement distance of 0.459." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_494", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 86, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_494.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_623", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_623/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_623/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_623/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.580]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.675, 0.560]). The trajectory involves 77 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_623", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 64, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_623.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_71", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_71/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_71/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_71/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.332, 0.465]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.678, 0.363]). The trajectory involves 74 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_71", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 21, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_71.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_768", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_768/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_768/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_768/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.311, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.736, 0.432]). The trajectory involves 70 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_768", + "trajectory_length": 70, + "key_frame_indices": [ + 0, + 21, + 69 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_768.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_224", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_224/frame_0037.jpg", + "maniskill/PegInsertionSide/images/episode_224/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_224/frame_0110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.272, 0.524]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.585, 0.425]). The trajectory involves 74 precise waypoints with total movement distance of 0.377." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_224", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 22, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_224.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_803", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_803/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_803/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_803/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.630]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.409]). The trajectory involves 84 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_803", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 27, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_803.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_686", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_686/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_686/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_686/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.159, 0.563]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.768, 0.365]). The trajectory involves 78 precise waypoints with total movement distance of 0.685." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_686", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 25, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_686.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_569", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_569/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_569/frame_0191.jpg", + "maniskill/PegInsertionSide/images/episode_569/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.190, 0.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.761, 0.424]). The trajectory involves 125 precise waypoints with total movement distance of 0.663." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_569", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 116, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_569.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_252", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_252/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_252/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_252/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.305, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.562, 0.529]). The trajectory involves 72 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_252", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 18, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_252.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_969", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_969/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_969/frame_0110.jpg", + "maniskill/PegInsertionSide/images/episode_969/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.350, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.540, 0.416]). The trajectory involves 74 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_969", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 64, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_969.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_215", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_215/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_215/frame_0123.jpg", + "maniskill/PegInsertionSide/images/episode_215/frame_0132.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.309, 0.536]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.578, 0.442]). The trajectory involves 84 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_215", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 74, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_215.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_675", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_675/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_675/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_675/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.728, 0.451]). The trajectory involves 102 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_675", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 93, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_675.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_880", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_880/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_880/frame_0171.jpg", + "maniskill/PegInsertionSide/images/episode_880/frame_0179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.255, 0.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.468]). The trajectory involves 115 precise waypoints with total movement distance of 0.375." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_880", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 106, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_880.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_903", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_903/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_903/frame_0150.jpg", + "maniskill/PegInsertionSide/images/episode_903/frame_0159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.296, 0.620]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.524, 0.458]). The trajectory involves 100 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_903", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 90, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_903.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_674", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_674/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_674/frame_0163.jpg", + "maniskill/PegInsertionSide/images/episode_674/frame_0172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.167, 0.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 0.524]). The trajectory involves 106 precise waypoints with total movement distance of 0.456." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_674", + "trajectory_length": 106, + "key_frame_indices": [ + 0, + 96, + 105 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_674.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_199", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_199/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_199/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_199/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.101, 0.636]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.599, 0.434]). The trajectory involves 97 precise waypoints with total movement distance of 0.576." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_199", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 36, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_199.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_44", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_44/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_44/frame_0179.jpg", + "maniskill/PegInsertionSide/images/episode_44/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.224, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.574, 0.486]). The trajectory involves 113 precise waypoints with total movement distance of 0.410." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_44", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 103, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_44.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_123", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_123/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_123/frame_0085.jpg", + "maniskill/PegInsertionSide/images/episode_123/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.101, 0.615]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.556, 0.391]). The trajectory involves 85 precise waypoints with total movement distance of 0.585." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_123", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 29, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_123.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_52", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_52/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_52/frame_0120.jpg", + "maniskill/PegInsertionSide/images/episode_52/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.339, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.438]). The trajectory involves 78 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_52", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 68, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_52.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_92", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_92/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_92/frame_0122.jpg", + "maniskill/PegInsertionSide/images/episode_92/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.308, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.566, 0.408]). The trajectory involves 87 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_92", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 78, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_92.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_410", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_410/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_410/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_410/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.659, 0.405]). The trajectory involves 92 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_410", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 83, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_410.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_32", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_32/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_32/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_32/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.180, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.634, 0.474]). The trajectory involves 84 precise waypoints with total movement distance of 0.516." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_32", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 24, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_32.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_497", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_497/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_497/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_497/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.298, 0.451]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.573, 0.476]). The trajectory involves 80 precise waypoints with total movement distance of 0.329." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_497", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 27, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_497.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_490", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_490/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_490/frame_0186.jpg", + "maniskill/PegInsertionSide/images/episode_490/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.158, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.722, 0.320]). The trajectory involves 132 precise waypoints with total movement distance of 0.692." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_490", + "trajectory_length": 132, + "key_frame_indices": [ + 0, + 121, + 131 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_490.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_872", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_872/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_872/frame_0166.jpg", + "maniskill/PegInsertionSide/images/episode_872/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.202, 0.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.638, 0.432]). The trajectory involves 116 precise waypoints with total movement distance of 0.532." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_872", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 106, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_872.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_536", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_536/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_536/frame_0175.jpg", + "maniskill/PegInsertionSide/images/episode_536/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.182, 0.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.613, 0.458]). The trajectory involves 117 precise waypoints with total movement distance of 0.495." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_536", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 109, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_536.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_118", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_118/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_118/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_118/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.620]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.613, 0.486]). The trajectory involves 85 precise waypoints with total movement distance of 0.377." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_118", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 25, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_118.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_628", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_628/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_628/frame_0164.jpg", + "maniskill/PegInsertionSide/images/episode_628/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.273, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.616, 0.465]). The trajectory involves 104 precise waypoints with total movement distance of 0.402." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_628", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 96, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_628.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_607", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_607/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_607/frame_0109.jpg", + "maniskill/PegInsertionSide/images/episode_607/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.631, 0.408]). The trajectory involves 78 precise waypoints with total movement distance of 0.396." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_607", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 69, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_607.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_861", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_861/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_861/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_861/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.265, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.735, 0.456]). The trajectory involves 83 precise waypoints with total movement distance of 0.533." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_861", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 25, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_861.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_970", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_970/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_970/frame_0141.jpg", + "maniskill/PegInsertionSide/images/episode_970/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.316, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.588, 0.550]). The trajectory involves 97 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_970", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 88, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_970.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_51", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_51/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_51/frame_0193.jpg", + "maniskill/PegInsertionSide/images/episode_51/frame_0200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.132, 0.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.744, 0.501]). The trajectory involves 127 precise waypoints with total movement distance of 0.719." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_51", + "trajectory_length": 127, + "key_frame_indices": [ + 0, + 119, + 126 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_51.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_28", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_28/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_28/frame_0124.jpg", + "maniskill/PegInsertionSide/images/episode_28/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.268, 0.432]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.559, 0.484]). The trajectory involves 81 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_28", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 70, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_28.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_562", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_562/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_562/frame_0197.jpg", + "maniskill/PegInsertionSide/images/episode_562/frame_0205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.161, 0.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.589, 0.431]). The trajectory involves 136 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_562", + "trajectory_length": 136, + "key_frame_indices": [ + 0, + 127, + 135 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_562.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_110", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_110/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_110/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_110/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.202, 0.588]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.518, 0.429]). The trajectory involves 81 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_110", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 26, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_110.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_119", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_119/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_119/frame_0170.jpg", + "maniskill/PegInsertionSide/images/episode_119/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.177, 0.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.777, 0.491]). The trajectory involves 115 precise waypoints with total movement distance of 0.697." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_119", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 106, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_119.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_302", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_302/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_302/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_302/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.790, 0.429]). The trajectory involves 86 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_302", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_302.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_776", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_776/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_776/frame_0104.jpg", + "maniskill/PegInsertionSide/images/episode_776/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.377, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.558, 0.373]). The trajectory involves 68 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_776", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 60, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_776.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_752", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_752/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_752/frame_0136.jpg", + "maniskill/PegInsertionSide/images/episode_752/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.369, 0.437]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.647, 0.426]). The trajectory involves 88 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_752", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 79, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_752.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_866", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_866/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_866/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_866/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.275, 0.537]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.499, 0.404]). The trajectory involves 80 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_866", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 24, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_866.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_286", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_286/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_286/frame_0118.jpg", + "maniskill/PegInsertionSide/images/episode_286/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.365, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.555, 0.300]). The trajectory involves 85 precise waypoints with total movement distance of 0.400." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_286", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 74, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_286.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_812", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_812/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_812/frame_0163.jpg", + "maniskill/PegInsertionSide/images/episode_812/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.687, 0.459]). The trajectory involves 118 precise waypoints with total movement distance of 0.508." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_812", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 110, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_812.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_290", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_290/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_290/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_290/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.444]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.646, 0.482]). The trajectory involves 77 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_290", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 67, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_290.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_997", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_997/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_997/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_997/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.257, 0.593]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.777, 0.479]). The trajectory involves 78 precise waypoints with total movement distance of 0.618." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_997", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 23, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_997.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_700", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_700/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_700/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_700/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.210, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.740, 0.518]). The trajectory involves 76 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_700", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 27, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_700.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_808", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_808/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_808/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_808/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.512]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.474]). The trajectory involves 84 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_808", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 74, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_808.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_711", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_711/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_711/frame_0142.jpg", + "maniskill/PegInsertionSide/images/episode_711/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.229, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.613, 0.444]). The trajectory involves 95 precise waypoints with total movement distance of 0.452." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_711", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 84, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_711.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_556", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_556/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_556/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_556/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.526]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.818, 0.441]). The trajectory involves 75 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_556", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_556.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_398", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_398/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_398/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_398/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.502]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.549, 0.471]). The trajectory involves 90 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_398", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 81, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_398.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_644", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_644/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_644/frame_0167.jpg", + "maniskill/PegInsertionSide/images/episode_644/frame_0176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.222, 0.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 0.422]). The trajectory involves 115 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_644", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 105, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_644.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_971", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_971/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_971/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_971/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.586]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.678, 0.441]). The trajectory involves 75 precise waypoints with total movement distance of 0.457." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_971", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 21, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_971.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_108", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_108/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_108/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_108/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.193, 0.434]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.490]). The trajectory involves 82 precise waypoints with total movement distance of 0.460." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_108", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 28, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_108.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_809", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_809/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_809/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_809/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.239, 0.621]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.452]). The trajectory involves 82 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_809", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 25, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_809.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_939", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_939/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_939/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_939/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.230, 0.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.712, 0.531]). The trajectory involves 103 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_939", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 28, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_939.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_135", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_135/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_135/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_135/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.301, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.782, 0.438]). The trajectory involves 99 precise waypoints with total movement distance of 0.572." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_135", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 89, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_135.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_88", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_88/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_88/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_88/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.205, 0.534]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.714, 0.460]). The trajectory involves 77 precise waypoints with total movement distance of 0.569." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_88", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 23, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_88.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_792", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_792/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_792/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_792/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.214, 0.616]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.411]). The trajectory involves 89 precise waypoints with total movement distance of 0.495." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_792", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 29, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_792.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_758", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_758/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_758/frame_0109.jpg", + "maniskill/PegInsertionSide/images/episode_758/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.295, 0.594]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.545, 0.499]). The trajectory involves 78 precise waypoints with total movement distance of 0.313." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_758", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 68, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_758.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_61", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_61/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_61/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_61/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.213, 0.460]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.546, 0.480]). The trajectory involves 82 precise waypoints with total movement distance of 0.395." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_61", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 27, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_61.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_528", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_528/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_528/frame_0158.jpg", + "maniskill/PegInsertionSide/images/episode_528/frame_0167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.268, 0.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.608, 0.447]). The trajectory involves 107 precise waypoints with total movement distance of 0.424." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_528", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 97, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_528.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_766", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_766/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_766/frame_0152.jpg", + "maniskill/PegInsertionSide/images/episode_766/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.784, 0.364]). The trajectory involves 109 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_766", + "trajectory_length": 109, + "key_frame_indices": [ + 0, + 98, + 108 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_766.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_567", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_567/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_567/frame_0161.jpg", + "maniskill/PegInsertionSide/images/episode_567/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.685, 0.442]). The trajectory involves 110 precise waypoints with total movement distance of 0.367." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_567", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 99, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_567.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_103", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_103/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_103/frame_0136.jpg", + "maniskill/PegInsertionSide/images/episode_103/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.609, 0.520]). The trajectory involves 90 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_103", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 80, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_103.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_818", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_818/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_818/frame_0105.jpg", + "maniskill/PegInsertionSide/images/episode_818/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.327, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.532, 0.391]). The trajectory involves 74 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_818", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 63, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_818.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_841", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_841/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_841/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_841/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.247, 0.496]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.581, 0.395]). The trajectory involves 73 precise waypoints with total movement distance of 0.414." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_841", + "trajectory_length": 73, + "key_frame_indices": [ + 0, + 22, + 72 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_841.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_932", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_932/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_932/frame_0113.jpg", + "maniskill/PegInsertionSide/images/episode_932/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.659, 0.469]). The trajectory involves 82 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_932", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 72, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_932.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_925", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_925/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_925/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_925/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.247, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.425]). The trajectory involves 72 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_925", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 61, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_925.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_467", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_467/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_467/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_467/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.178, 0.584]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.713, 0.334]). The trajectory involves 85 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_467", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 28, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_467.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_697", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_697/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_697/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_697/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.242, 0.574]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.504, 0.428]). The trajectory involves 89 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_697", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 79, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_697.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_804", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_804/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_804/frame_0143.jpg", + "maniskill/PegInsertionSide/images/episode_804/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.223, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.519, 0.527]). The trajectory involves 96 precise waypoints with total movement distance of 0.348." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_804", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 87, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_804.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_611", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_611/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_611/frame_0117.jpg", + "maniskill/PegInsertionSide/images/episode_611/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.368, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.671, 0.491]). The trajectory involves 75 precise waypoints with total movement distance of 0.328." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_611", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 66, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_611.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_377", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_377/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_377/frame_0164.jpg", + "maniskill/PegInsertionSide/images/episode_377/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.281, 0.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.759, 0.443]). The trajectory involves 120 precise waypoints with total movement distance of 0.578." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_377", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 109, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_377.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_1", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_1/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_1/frame_0084.jpg", + "maniskill/PegInsertionSide/images/episode_1/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.275, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 0.337]). The trajectory involves 101 precise waypoints with total movement distance of 0.583." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_1", + "trajectory_length": 101, + "key_frame_indices": [ + 0, + 32, + 100 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_1.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_732", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_732/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_732/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_732/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.700, 0.433]). The trajectory involves 102 precise waypoints with total movement distance of 0.464." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_732", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 28, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_732.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_77", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_77/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_77/frame_0123.jpg", + "maniskill/PegInsertionSide/images/episode_77/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.346, 0.433]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.526, 0.395]). The trajectory involves 85 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_77", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 74, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_77.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_310", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_310/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_310/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_310/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.397, 0.606]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.625, 0.429]). The trajectory involves 78 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_310", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 67, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_310.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_540", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_540/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_540/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_540/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.225, 0.432]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.708, 0.479]). The trajectory involves 91 precise waypoints with total movement distance of 0.588." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_540", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 30, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_540.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_578", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_578/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_578/frame_0109.jpg", + "maniskill/PegInsertionSide/images/episode_578/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.565]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.631, 0.408]). The trajectory involves 78 precise waypoints with total movement distance of 0.396." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_578", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 69, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_578.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_263", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_263/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_263/frame_0091.jpg", + "maniskill/PegInsertionSide/images/episode_263/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.117, 0.635]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.622, 0.443]). The trajectory involves 94 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_263", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 33, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_263.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_889", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_889/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_889/frame_0165.jpg", + "maniskill/PegInsertionSide/images/episode_889/frame_0174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.133, 0.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.617, 0.422]). The trajectory involves 112 precise waypoints with total movement distance of 0.594." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_889", + "trajectory_length": 112, + "key_frame_indices": [ + 0, + 102, + 111 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_889.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_367", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_367/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_367/frame_0084.jpg", + "maniskill/PegInsertionSide/images/episode_367/frame_0164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.154, 0.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.441]). The trajectory involves 114 precise waypoints with total movement distance of 0.605." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_367", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 33, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_367.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_106", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_106/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_106/frame_0083.jpg", + "maniskill/PegInsertionSide/images/episode_106/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.172, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.491]). The trajectory involves 91 precise waypoints with total movement distance of 0.400." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_106", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 28, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_106.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_265", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_265/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_265/frame_0153.jpg", + "maniskill/PegInsertionSide/images/episode_265/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.170, 0.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 0.374]). The trajectory involves 107 precise waypoints with total movement distance of 0.481." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_265", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 97, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_265.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_535", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_535/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_535/frame_0152.jpg", + "maniskill/PegInsertionSide/images/episode_535/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.601, 0.452]). The trajectory involves 99 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_535", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 90, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_535.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_572", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_572/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_572/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_572/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.540]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.655, 0.450]). The trajectory involves 85 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_572", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 75, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_572.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_673", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_673/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_673/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_673/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.210, 0.446]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.740, 0.518]). The trajectory involves 76 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_673", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 27, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_673.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_326", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_326/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_326/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_326/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.115, 0.609]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.732, 0.494]). The trajectory involves 75 precise waypoints with total movement distance of 0.652." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_326", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 25, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_326.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_749", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_749/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_749/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_749/frame_0127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.439]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.644, 0.408]). The trajectory involves 75 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_749", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_749.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_837", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_837/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_837/frame_0153.jpg", + "maniskill/PegInsertionSide/images/episode_837/frame_0162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.325, 0.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.474]). The trajectory involves 102 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_837", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 92, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_837.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_357", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_357/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_357/frame_0082.jpg", + "maniskill/PegInsertionSide/images/episode_357/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.207, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.758, 0.494]). The trajectory involves 97 precise waypoints with total movement distance of 0.618." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_357", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 30, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_357.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_648", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_648/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_648/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_648/frame_0129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.208, 0.482]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.579, 0.319]). The trajectory involves 91 precise waypoints with total movement distance of 0.470." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_648", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 28, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_648.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_157", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_157/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_157/frame_0189.jpg", + "maniskill/PegInsertionSide/images/episode_157/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.114, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.692, 0.390]). The trajectory involves 131 precise waypoints with total movement distance of 0.708." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_157", + "trajectory_length": 131, + "key_frame_indices": [ + 0, + 121, + 130 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_157.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_492", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_492/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_492/frame_0180.jpg", + "maniskill/PegInsertionSide/images/episode_492/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.236, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.326]). The trajectory involves 121 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_492", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 110, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_492.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_895", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_895/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_895/frame_0133.jpg", + "maniskill/PegInsertionSide/images/episode_895/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.370, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.405]). The trajectory involves 90 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_895", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 79, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_895.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_733", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_733/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_733/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_733/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.383, 0.504]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.617, 0.428]). The trajectory involves 67 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_733", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 57, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_733.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_250", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_250/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_250/frame_0209.jpg", + "maniskill/PegInsertionSide/images/episode_250/frame_0220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.171, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.773, 0.475]). The trajectory involves 142 precise waypoints with total movement distance of 0.737." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_250", + "trajectory_length": 142, + "key_frame_indices": [ + 0, + 130, + 141 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_250.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_588", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_588/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_588/frame_0114.jpg", + "maniskill/PegInsertionSide/images/episode_588/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.510]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.538, 0.523]). The trajectory involves 78 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_588", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 68, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_588.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_503", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_503/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_503/frame_0130.jpg", + "maniskill/PegInsertionSide/images/episode_503/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.488]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.839, 0.517]). The trajectory involves 95 precise waypoints with total movement distance of 0.556." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_503", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 86, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_503.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_131", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_131/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_131/frame_0143.jpg", + "maniskill/PegInsertionSide/images/episode_131/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.611, 0.473]). The trajectory involves 92 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_131", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 83, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_131.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_824", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_824/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_824/frame_0222.jpg", + "maniskill/PegInsertionSide/images/episode_824/frame_0234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.207, 0.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.731, 0.317]). The trajectory involves 158 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_824", + "trajectory_length": 158, + "key_frame_indices": [ + 0, + 145, + 157 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_824.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_666", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_666/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_666/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_666/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.267, 0.543]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.605, 0.510]). The trajectory involves 71 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_666", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 21, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_666.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_838", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_838/frame_0037.jpg", + "maniskill/PegInsertionSide/images/episode_838/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_838/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.297, 0.544]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.526, 0.472]). The trajectory involves 79 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_838", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_838.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_269", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_269/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_269/frame_0131.jpg", + "maniskill/PegInsertionSide/images/episode_269/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.262, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.517, 0.444]). The trajectory involves 97 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_269", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 87, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_269.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_301", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_301/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_301/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_301/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.191, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.649, 0.343]). The trajectory involves 87 precise waypoints with total movement distance of 0.531." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_301", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 24, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_301.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_203", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_203/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_203/frame_0123.jpg", + "maniskill/PegInsertionSide/images/episode_203/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.545, 0.415]). The trajectory involves 85 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_203", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 74, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_203.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_156", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_156/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_156/frame_0189.jpg", + "maniskill/PegInsertionSide/images/episode_156/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.158, 0.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.641, 0.431]). The trajectory involves 127 precise waypoints with total movement distance of 0.566." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_156", + "trajectory_length": 127, + "key_frame_indices": [ + 0, + 118, + 126 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_156.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_987", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_987/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_987/frame_0167.jpg", + "maniskill/PegInsertionSide/images/episode_987/frame_0177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.149, 0.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 0.345]). The trajectory involves 118 precise waypoints with total movement distance of 0.530." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_987", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 107, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_987.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_961", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_961/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_961/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_961/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.176, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.550, 0.442]). The trajectory involves 71 precise waypoints with total movement distance of 0.410." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_961", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_961.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_606", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_606/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_606/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_606/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.140, 0.560]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.666, 0.436]). The trajectory involves 79 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_606", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 23, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_606.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_603", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_603/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_603/frame_0184.jpg", + "maniskill/PegInsertionSide/images/episode_603/frame_0193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.192, 0.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.714, 0.441]). The trajectory involves 123 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_603", + "trajectory_length": 123, + "key_frame_indices": [ + 0, + 113, + 122 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_603.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_986", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_986/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_986/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_986/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.139, 0.557]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.574, 0.414]). The trajectory involves 76 precise waypoints with total movement distance of 0.497." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_986", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 24, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_986.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_966", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_966/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_966/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_966/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.621]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.455]). The trajectory involves 83 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_966", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 73, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_966.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_541", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_541/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_541/frame_0180.jpg", + "maniskill/PegInsertionSide/images/episode_541/frame_0190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.236, 0.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.644, 0.326]). The trajectory involves 121 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_541", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 110, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_541.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_353", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_353/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_353/frame_0122.jpg", + "maniskill/PegInsertionSide/images/episode_353/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.150, 0.638]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.620, 0.491]). The trajectory involves 119 precise waypoints with total movement distance of 0.576." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_353", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 44, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_353.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_280", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_280/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_280/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_280/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.717, 0.534]). The trajectory involves 67 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_280", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_280.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_566", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_566/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_566/frame_0167.jpg", + "maniskill/PegInsertionSide/images/episode_566/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.185, 0.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.535, 0.453]). The trajectory involves 114 precise waypoints with total movement distance of 0.447." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_566", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 105, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_566.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_840", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_840/frame_0049.jpg", + "maniskill/PegInsertionSide/images/episode_840/frame_0084.jpg", + "maniskill/PegInsertionSide/images/episode_840/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.237, 0.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.706, 0.441]). The trajectory involves 102 precise waypoints with total movement distance of 0.635." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_840", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 35, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_840.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_414", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_414/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_414/frame_0157.jpg", + "maniskill/PegInsertionSide/images/episode_414/frame_0165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.497]). The trajectory involves 103 precise waypoints with total movement distance of 0.402." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_414", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 94, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_414.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_943", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_943/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_943/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_943/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.687, 0.385]). The trajectory involves 74 precise waypoints with total movement distance of 0.353." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_943", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 21, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_943.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_811", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_811/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_811/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_811/frame_0158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.205, 0.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.422]). The trajectory involves 111 precise waypoints with total movement distance of 0.581." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_811", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 33, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_811.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_221", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_221/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_221/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_221/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.645, 0.408]). The trajectory involves 80 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_221", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 25, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_221.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_231", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_231/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_231/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_231/frame_0148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.482]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.622, 0.460]). The trajectory involves 87 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_231", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 77, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_231.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_275", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_275/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_275/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_275/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.191, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.649, 0.343]). The trajectory involves 87 precise waypoints with total movement distance of 0.531." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_275", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 24, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_275.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_165", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_165/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_165/frame_0116.jpg", + "maniskill/PegInsertionSide/images/episode_165/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.501]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.619, 0.398]). The trajectory involves 79 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_165", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_165.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_571", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_571/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_571/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_571/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.520, 0.444]). The trajectory involves 71 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_571", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 61, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_571.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_682", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_682/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_682/frame_0173.jpg", + "maniskill/PegInsertionSide/images/episode_682/frame_0181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.318, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.612, 0.467]). The trajectory involves 117 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_682", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 108, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_682.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_87", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_87/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_87/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_87/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.591, 0.503]). The trajectory involves 89 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_87", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 80, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_87.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_677", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_677/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_677/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_677/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.256, 0.462]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.668, 0.452]). The trajectory involves 84 precise waypoints with total movement distance of 0.475." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_677", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 29, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_677.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_953", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_953/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_953/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_953/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.220, 0.596]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.564, 0.466]). The trajectory involves 67 precise waypoints with total movement distance of 0.394." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_953", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 20, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_953.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_455", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_455/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_455/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_455/frame_0109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.355, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.726, 0.473]). The trajectory involves 72 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_455", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 21, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_455.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_9", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_9/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_9/frame_0180.jpg", + "maniskill/PegInsertionSide/images/episode_9/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.116, 0.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.508, 0.481]). The trajectory involves 116 precise waypoints with total movement distance of 0.457." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_9", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 106, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_9.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_509", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_509/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_509/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_509/frame_0112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.328, 0.515]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.624, 0.499]). The trajectory involves 75 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_509", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 21, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_509.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_658", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_658/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_658/frame_0186.jpg", + "maniskill/PegInsertionSide/images/episode_658/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.145, 0.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.538, 0.535]). The trajectory involves 116 precise waypoints with total movement distance of 0.498." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_658", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 107, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_658.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_35", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_35/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_35/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_35/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.226, 0.442]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.628, 0.409]). The trajectory involves 77 precise waypoints with total movement distance of 0.443." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_35", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 26, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_35.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_495", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_495/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_495/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_495/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.353, 0.584]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.689, 0.480]). The trajectory involves 78 precise waypoints with total movement distance of 0.398." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_495", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 21, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_495.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_237", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_237/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_237/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_237/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.197, 0.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.595, 0.540]). The trajectory involves 108 precise waypoints with total movement distance of 0.548." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_237", + "trajectory_length": 108, + "key_frame_indices": [ + 0, + 34, + 107 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_237.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_304", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_304/frame_0037.jpg", + "maniskill/PegInsertionSide/images/episode_304/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_304/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.221, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.407]). The trajectory involves 78 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_304", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 21, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_304.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_384", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_384/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_384/frame_0198.jpg", + "maniskill/PegInsertionSide/images/episode_384/frame_0208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.179, 0.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.349]). The trajectory involves 136 precise waypoints with total movement distance of 0.643." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_384", + "trajectory_length": 136, + "key_frame_indices": [ + 0, + 125, + 135 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_384.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_363", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_363/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_363/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_363/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.400, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.671, 0.386]). The trajectory involves 82 precise waypoints with total movement distance of 0.346." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_363", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 71, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_363.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_544", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_544/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_544/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_544/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.353, 0.584]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.689, 0.480]). The trajectory involves 78 precise waypoints with total movement distance of 0.398." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_544", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 21, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_544.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_539", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_539/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_539/frame_0186.jpg", + "maniskill/PegInsertionSide/images/episode_539/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.158, 0.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.722, 0.320]). The trajectory involves 132 precise waypoints with total movement distance of 0.692." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_539", + "trajectory_length": 132, + "key_frame_indices": [ + 0, + 121, + 131 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_539.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_371", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_371/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_371/frame_0069.jpg", + "maniskill/PegInsertionSide/images/episode_371/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.304, 0.445]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.657, 0.380]). The trajectory involves 85 precise waypoints with total movement distance of 0.394." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_371", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 23, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_371.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_282", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_282/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_282/frame_0107.jpg", + "maniskill/PegInsertionSide/images/episode_282/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.132, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.402]). The trajectory involves 118 precise waypoints with total movement distance of 0.600." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_282", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 40, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_282.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_181", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_181/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_181/frame_0161.jpg", + "maniskill/PegInsertionSide/images/episode_181/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.219, 0.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 0.428]). The trajectory involves 104 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_181", + "trajectory_length": 104, + "key_frame_indices": [ + 0, + 91, + 103 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_181.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_833", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_833/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_833/frame_0090.jpg", + "maniskill/PegInsertionSide/images/episode_833/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.100, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.469]). The trajectory involves 94 precise waypoints with total movement distance of 0.499." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_833", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 33, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_833.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_264", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_264/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_264/frame_0133.jpg", + "maniskill/PegInsertionSide/images/episode_264/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.617, 0.452]). The trajectory involves 87 precise waypoints with total movement distance of 0.325." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_264", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 77, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_264.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_813", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_813/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_813/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_813/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.130, 0.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.764, 0.475]). The trajectory involves 103 precise waypoints with total movement distance of 0.727." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_813", + "trajectory_length": 103, + "key_frame_indices": [ + 0, + 29, + 102 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_813.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_147", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_147/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_147/frame_0181.jpg", + "maniskill/PegInsertionSide/images/episode_147/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.174, 0.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 0.410]). The trajectory involves 125 precise waypoints with total movement distance of 0.517." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_147", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 116, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_147.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_870", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_870/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_870/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_870/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.271, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.675, 0.505]). The trajectory involves 75 precise waypoints with total movement distance of 0.441." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_870", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_870.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_167", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_167/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_167/frame_0112.jpg", + "maniskill/PegInsertionSide/images/episode_167/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.470]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.770, 0.367]). The trajectory involves 81 precise waypoints with total movement distance of 0.481." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_167", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 70, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_167.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_874", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_874/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_874/frame_0123.jpg", + "maniskill/PegInsertionSide/images/episode_874/frame_0134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.486]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.316]). The trajectory involves 83 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_874", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 71, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_874.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_134", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_134/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_134/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_134/frame_0149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.271, 0.542]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.545, 0.340]). The trajectory involves 91 precise waypoints with total movement distance of 0.412." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_134", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 79, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_134.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_867", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_867/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_867/frame_0132.jpg", + "maniskill/PegInsertionSide/images/episode_867/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.353, 0.439]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.606, 0.542]). The trajectory involves 93 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_867", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 86, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_867.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_247", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_247/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_247/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_247/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.193, 0.503]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.604, 0.527]). The trajectory involves 89 precise waypoints with total movement distance of 0.477." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_247", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 26, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_247.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_698", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_698/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_698/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_698/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.305, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.521, 0.551]). The trajectory involves 90 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_698", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 80, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_698.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_952", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_952/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_952/frame_0082.jpg", + "maniskill/PegInsertionSide/images/episode_952/frame_0141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.394, 0.563]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.676, 0.450]). The trajectory involves 84 precise waypoints with total movement distance of 0.367." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_952", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 24, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_952.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_847", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_847/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_847/frame_0116.jpg", + "maniskill/PegInsertionSide/images/episode_847/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.342, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.610, 0.387]). The trajectory involves 76 precise waypoints with total movement distance of 0.358." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_847", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 65, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_847.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_278", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_278/frame_0037.jpg", + "maniskill/PegInsertionSide/images/episode_278/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_278/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.221, 0.494]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.513, 0.407]). The trajectory involves 78 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_278", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 21, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_278.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_175", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_175/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_175/frame_0115.jpg", + "maniskill/PegInsertionSide/images/episode_175/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.153, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.477]). The trajectory involves 125 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_175", + "trajectory_length": 125, + "key_frame_indices": [ + 0, + 42, + 124 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_175.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_868", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_868/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_868/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_868/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.283, 0.620]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.613, 0.456]). The trajectory involves 92 precise waypoints with total movement distance of 0.429." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_868", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_868.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_305", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_305/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_305/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_305/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.244, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.643, 0.506]). The trajectory involves 68 precise waypoints with total movement distance of 0.436." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_305", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 21, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_305.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_49", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_49/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_49/frame_0113.jpg", + "maniskill/PegInsertionSide/images/episode_49/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.303, 0.440]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.556, 0.489]). The trajectory involves 79 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_49", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 69, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_49.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_580", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_580/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_580/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_580/frame_0118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.349, 0.569]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.536, 0.428]). The trajectory involves 79 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_580", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 24, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_580.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_773", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_773/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_773/frame_0163.jpg", + "maniskill/PegInsertionSide/images/episode_773/frame_0170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.687, 0.459]). The trajectory involves 118 precise waypoints with total movement distance of 0.508." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_773", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 110, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_773.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_349", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_349/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_349/frame_0174.jpg", + "maniskill/PegInsertionSide/images/episode_349/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.260, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.651, 0.452]). The trajectory involves 120 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_349", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 110, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_349.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_748", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_748/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_748/frame_0112.jpg", + "maniskill/PegInsertionSide/images/episode_748/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.351, 0.458]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.755, 0.427]). The trajectory involves 77 precise waypoints with total movement distance of 0.438." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_748", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 66, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_748.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_570", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_570/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_570/frame_0121.jpg", + "maniskill/PegInsertionSide/images/episode_570/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.500]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.526, 0.341]). The trajectory involves 82 precise waypoints with total movement distance of 0.312." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_570", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 71, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_570.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_486", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_486/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_486/frame_0152.jpg", + "maniskill/PegInsertionSide/images/episode_486/frame_0160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.498]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.601, 0.452]). The trajectory involves 99 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_486", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 90, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_486.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_857", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_857/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_857/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_857/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.213, 0.554]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.664, 0.466]). The trajectory involves 79 precise waypoints with total movement distance of 0.534." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_857", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 22, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_857.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_555", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_555/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_555/frame_0121.jpg", + "maniskill/PegInsertionSide/images/episode_555/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.278, 0.463]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.550, 0.427]). The trajectory involves 85 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_555", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 75, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_555.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_419", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_419/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_419/frame_0083.jpg", + "maniskill/PegInsertionSide/images/episode_419/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.125, 0.582]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.530, 0.335]). The trajectory involves 94 precise waypoints with total movement distance of 0.545." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_419", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 32, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_419.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_919", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_919/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_919/frame_0187.jpg", + "maniskill/PegInsertionSide/images/episode_919/frame_0197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.281, 0.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 0.378]). The trajectory involves 126 precise waypoints with total movement distance of 0.516." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_919", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 115, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_919.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_441", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_441/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_441/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_441/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.276, 0.493]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.576, 0.380]). The trajectory involves 72 precise waypoints with total movement distance of 0.367." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_441", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 22, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_441.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_96", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_96/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_96/frame_0095.jpg", + "maniskill/PegInsertionSide/images/episode_96/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.200, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.528]). The trajectory involves 105 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_96", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 30, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_96.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_277", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_277/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_277/frame_0101.jpg", + "maniskill/PegInsertionSide/images/episode_277/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.131, 0.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 0.337]). The trajectory involves 120 precise waypoints with total movement distance of 0.547." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_277", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 37, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_277.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_43", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_43/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_43/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_43/frame_0108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.495]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.626, 0.471]). The trajectory involves 67 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_43", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 20, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_43.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_794", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_794/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_794/frame_0090.jpg", + "maniskill/PegInsertionSide/images/episode_794/frame_0150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.100, 0.592]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.529, 0.469]). The trajectory involves 94 precise waypoints with total movement distance of 0.499." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_794", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 33, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_794.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_546", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_546/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_546/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_546/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.298, 0.451]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.573, 0.476]). The trajectory involves 80 precise waypoints with total movement distance of 0.329." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_546", + "trajectory_length": 80, + "key_frame_indices": [ + 0, + 27, + 79 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_546.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_190", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_190/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_190/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_190/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.619]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.597, 0.443]). The trajectory involves 89 precise waypoints with total movement distance of 0.422." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_190", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 80, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_190.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_980", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_980/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_980/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_980/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.314, 0.477]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.524, 0.451]). The trajectory involves 69 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_980", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 18, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_980.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_76", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_76/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_76/frame_0139.jpg", + "maniskill/PegInsertionSide/images/episode_76/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.355, 0.452]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.590, 0.410]). The trajectory involves 90 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_76", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 81, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_76.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_746", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_746/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_746/frame_0136.jpg", + "maniskill/PegInsertionSide/images/episode_746/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.370, 0.460]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.586, 0.456]). The trajectory involves 94 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_746", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 86, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_746.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_928", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_928/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_928/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_928/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.239, 0.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.705, 0.407]). The trajectory involves 107 precise waypoints with total movement distance of 0.603." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_928", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 35, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_928.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_355", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_355/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_355/frame_0091.jpg", + "maniskill/PegInsertionSide/images/episode_355/frame_0161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.201, 0.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.631, 0.502]). The trajectory involves 102 precise waypoints with total movement distance of 0.535." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_355", + "trajectory_length": 102, + "key_frame_indices": [ + 0, + 31, + 101 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_355.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_637", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_637/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_637/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_637/frame_0142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.251, 0.436]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.634, 0.416]). The trajectory involves 92 precise waypoints with total movement distance of 0.453." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_637", + "trajectory_length": 92, + "key_frame_indices": [ + 0, + 28, + 91 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_637.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_253", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_253/frame_0062.jpg", + "maniskill/PegInsertionSide/images/episode_253/frame_0166.jpg", + "maniskill/PegInsertionSide/images/episode_253/frame_0175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.239, 0.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.444]). The trajectory involves 114 precise waypoints with total movement distance of 0.346." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_253", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 104, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_253.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_608", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_608/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_608/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_608/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.506]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.681, 0.476]). The trajectory involves 74 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_608", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_608.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_696", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_696/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_696/frame_0187.jpg", + "maniskill/PegInsertionSide/images/episode_696/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.316, 0.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.690, 0.454]). The trajectory involves 114 precise waypoints with total movement distance of 0.451." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_696", + "trajectory_length": 114, + "key_frame_indices": [ + 0, + 106, + 113 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_696.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_330", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_330/frame_0083.jpg", + "maniskill/PegInsertionSide/images/episode_330/frame_0208.jpg", + "maniskill/PegInsertionSide/images/episode_330/frame_0217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.145, 0.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 0.411]). The trajectory involves 135 precise waypoints with total movement distance of 0.703." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_330", + "trajectory_length": 135, + "key_frame_indices": [ + 0, + 125, + 134 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_330.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_266", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_266/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_266/frame_0086.jpg", + "maniskill/PegInsertionSide/images/episode_266/frame_0144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.141, 0.639]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.592, 0.478]). The trajectory involves 89 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_266", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 30, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_266.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_68", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_68/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_68/frame_0108.jpg", + "maniskill/PegInsertionSide/images/episode_68/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.430]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.493, 0.412]). The trajectory involves 68 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_68", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 58, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_68.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_236", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_236/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_236/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_236/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.101, 0.636]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.599, 0.434]). The trajectory involves 97 precise waypoints with total movement distance of 0.576." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_236", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 36, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_236.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_313", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_313/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_313/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_313/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.556]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.699, 0.443]). The trajectory involves 96 precise waypoints with total movement distance of 0.442." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_313", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 24, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_313.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_786", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_786/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_786/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_786/frame_0140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.352, 0.437]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.605, 0.349]). The trajectory involves 82 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_786", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 21, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_786.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_657", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_657/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_657/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_657/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.177, 0.468]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.575, 0.420]). The trajectory involves 87 precise waypoints with total movement distance of 0.440." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_657", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 26, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_657.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_440", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_440/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_440/frame_0164.jpg", + "maniskill/PegInsertionSide/images/episode_440/frame_0173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.262, 0.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 0.390]). The trajectory involves 113 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_440", + "trajectory_length": 113, + "key_frame_indices": [ + 0, + 103, + 112 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_440.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_137", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_137/frame_0056.jpg", + "maniskill/PegInsertionSide/images/episode_137/frame_0086.jpg", + "maniskill/PegInsertionSide/images/episode_137/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.175, 0.632]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.627, 0.350]). The trajectory involves 83 precise waypoints with total movement distance of 0.547." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_137", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 30, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_137.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_819", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_819/frame_0057.jpg", + "maniskill/PegInsertionSide/images/episode_819/frame_0129.jpg", + "maniskill/PegInsertionSide/images/episode_819/frame_0138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.535]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.547, 0.451]). The trajectory involves 82 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_819", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 72, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_819.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_532", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_532/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_532/frame_0103.jpg", + "maniskill/PegInsertionSide/images/episode_532/frame_0111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.581]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.588, 0.456]). The trajectory involves 71 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_532", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 62, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_532.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_787", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_787/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_787/frame_0111.jpg", + "maniskill/PegInsertionSide/images/episode_787/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.157, 0.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.690, 0.427]). The trajectory involves 127 precise waypoints with total movement distance of 0.660." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_787", + "trajectory_length": 127, + "key_frame_indices": [ + 0, + 41, + 126 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_787.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_21", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_21/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_21/frame_0137.jpg", + "maniskill/PegInsertionSide/images/episode_21/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.384, 0.454]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.616, 0.409]). The trajectory involves 90 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_21", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 79, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_21.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_910", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_910/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_910/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_910/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.271, 0.505]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.675, 0.505]). The trajectory involves 75 precise waypoints with total movement distance of 0.441." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_910", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_910.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_120", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_120/frame_0065.jpg", + "maniskill/PegInsertionSide/images/episode_120/frame_0095.jpg", + "maniskill/PegInsertionSide/images/episode_120/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.200, 0.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.659, 0.528]). The trajectory involves 105 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_120", + "trajectory_length": 105, + "key_frame_indices": [ + 0, + 30, + 104 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_120.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_950", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_950/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_950/frame_0186.jpg", + "maniskill/PegInsertionSide/images/episode_950/frame_0196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.172, 0.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.519, 0.432]). The trajectory involves 117 precise waypoints with total movement distance of 0.427." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_950", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 106, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_950.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_438", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_438/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_438/frame_0172.jpg", + "maniskill/PegInsertionSide/images/episode_438/frame_0182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.224, 0.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.622, 0.394]). The trajectory involves 115 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_438", + "trajectory_length": 115, + "key_frame_indices": [ + 0, + 104, + 114 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_438.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_991", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_991/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_991/frame_0146.jpg", + "maniskill/PegInsertionSide/images/episode_991/frame_0157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.459]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.641, 0.390]). The trajectory involves 97 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_991", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 85, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_991.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_704", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_704/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_704/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_704/frame_0124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.256, 0.462]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.668, 0.452]). The trajectory involves 84 precise waypoints with total movement distance of 0.475." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_704", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 29, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_704.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_935", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_935/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_935/frame_0133.jpg", + "maniskill/PegInsertionSide/images/episode_935/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.370, 0.547]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.405]). The trajectory involves 90 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_935", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 79, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_935.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_70", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_70/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_70/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_70/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.172, 0.619]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.675, 0.493]). The trajectory involves 86 precise waypoints with total movement distance of 0.599." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_70", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 24, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_70.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_149", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_149/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_149/frame_0179.jpg", + "maniskill/PegInsertionSide/images/episode_149/frame_0187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.198, 0.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.591, 0.374]). The trajectory involves 120 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_149", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 111, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_149.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_537", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_537/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_537/frame_0171.jpg", + "maniskill/PegInsertionSide/images/episode_537/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.222, 0.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.701, 0.478]). The trajectory involves 110 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_537", + "trajectory_length": 110, + "key_frame_indices": [ + 0, + 100, + 109 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_537.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_625", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_625/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_625/frame_0138.jpg", + "maniskill/PegInsertionSide/images/episode_625/frame_0146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.484]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.680, 0.526]). The trajectory involves 95 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_625", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 86, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_625.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_491", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_491/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_491/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_491/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.225, 0.432]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.708, 0.479]). The trajectory involves 91 precise waypoints with total movement distance of 0.588." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_491", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 30, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_491.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_974", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_974/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_974/frame_0120.jpg", + "maniskill/PegInsertionSide/images/episode_974/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.483]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.579, 0.399]). The trajectory involves 88 precise waypoints with total movement distance of 0.346." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_974", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 79, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_974.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_260", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_260/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_260/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_260/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.242, 0.623]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.688, 0.412]). The trajectory involves 82 precise waypoints with total movement distance of 0.552." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_260", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 26, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_260.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_130", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_130/frame_0276.jpg", + "maniskill/PegInsertionSide/images/episode_130/frame_0410.jpg", + "maniskill/PegInsertionSide/images/episode_130/frame_0419.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.091, 0.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 0.507]). The trajectory involves 144 precise waypoints with total movement distance of 0.683." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_130", + "trajectory_length": 144, + "key_frame_indices": [ + 0, + 134, + 143 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_130.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_913", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_913/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_913/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_913/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.214, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.584, 0.455]). The trajectory involves 74 precise waypoints with total movement distance of 0.394." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_913", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 24, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_913.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_876", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_876/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_876/frame_0173.jpg", + "maniskill/PegInsertionSide/images/episode_876/frame_0180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.751, 0.413]). The trajectory involves 117 precise waypoints with total movement distance of 0.573." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_876", + "trajectory_length": 117, + "key_frame_indices": [ + 0, + 109, + 116 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_876.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_102", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_102/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_102/frame_0188.jpg", + "maniskill/PegInsertionSide/images/episode_102/frame_0199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.208, 0.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.753, 0.452]). The trajectory involves 132 precise waypoints with total movement distance of 0.669." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_102", + "trajectory_length": 132, + "key_frame_indices": [ + 0, + 120, + 131 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_102.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_437", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_437/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_437/frame_0187.jpg", + "maniskill/PegInsertionSide/images/episode_437/frame_0195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.287, 0.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.393]). The trajectory involves 130 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_437", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 121, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_437.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_25", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_25/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_25/frame_0110.jpg", + "maniskill/PegInsertionSide/images/episode_25/frame_0183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.120, 0.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 0.462]). The trajectory involves 111 precise waypoints with total movement distance of 0.514." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_25", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 37, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_25.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_66", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_66/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_66/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_66/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.217, 0.590]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.602, 0.420]). The trajectory involves 84 precise waypoints with total movement distance of 0.482." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_66", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 28, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_66.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_335", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_335/frame_0070.jpg", + "maniskill/PegInsertionSide/images/episode_335/frame_0189.jpg", + "maniskill/PegInsertionSide/images/episode_335/frame_0198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.210, 0.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 0.454]). The trajectory involves 129 precise waypoints with total movement distance of 0.539." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_335", + "trajectory_length": 129, + "key_frame_indices": [ + 0, + 119, + 128 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_335.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_111", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_111/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_111/frame_0144.jpg", + "maniskill/PegInsertionSide/images/episode_111/frame_0152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.441]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.591, 0.503]). The trajectory involves 89 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_111", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 80, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_111.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_426", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_426/frame_0060.jpg", + "maniskill/PegInsertionSide/images/episode_426/frame_0096.jpg", + "maniskill/PegInsertionSide/images/episode_426/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.092, 0.619]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.550, 0.295]). The trajectory involves 97 precise waypoints with total movement distance of 0.612." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_426", + "trajectory_length": 97, + "key_frame_indices": [ + 0, + 36, + 96 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_426.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_36", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_36/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_36/frame_0075.jpg", + "maniskill/PegInsertionSide/images/episode_36/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.134, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.635, 0.475]). The trajectory involves 75 precise waypoints with total movement distance of 0.543." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_36", + "trajectory_length": 75, + "key_frame_indices": [ + 0, + 24, + 74 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_36.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_204", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_204/frame_0042.jpg", + "maniskill/PegInsertionSide/images/episode_204/frame_0112.jpg", + "maniskill/PegInsertionSide/images/episode_204/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.470]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.770, 0.367]). The trajectory involves 81 precise waypoints with total movement distance of 0.481." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_204", + "trajectory_length": 81, + "key_frame_indices": [ + 0, + 70, + 80 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_204.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_213", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_213/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_213/frame_0126.jpg", + "maniskill/PegInsertionSide/images/episode_213/frame_0135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.290, 0.448]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.515, 0.443]). The trajectory involves 83 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_213", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 73, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_213.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_591", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_591/frame_0050.jpg", + "maniskill/PegInsertionSide/images/episode_591/frame_0081.jpg", + "maniskill/PegInsertionSide/images/episode_591/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.285, 0.636]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.692, 0.396]). The trajectory involves 96 precise waypoints with total movement distance of 0.553." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_591", + "trajectory_length": 96, + "key_frame_indices": [ + 0, + 31, + 95 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_591.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_744", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_744/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_744/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_744/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.248, 0.465]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.694, 0.444]). The trajectory involves 84 precise waypoints with total movement distance of 0.520." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_744", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 23, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_744.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_98", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_98/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_98/frame_0068.jpg", + "maniskill/PegInsertionSide/images/episode_98/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.264, 0.476]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.553, 0.482]). The trajectory involves 76 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_98", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 20, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_98.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_262", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_262/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_262/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_262/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.189, 0.455]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.725, 0.533]). The trajectory involves 88 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_262", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 27, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_262.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_267", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_267/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_267/frame_0082.jpg", + "maniskill/PegInsertionSide/images/episode_267/frame_0147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.201, 0.459]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.618, 0.520]). The trajectory involves 95 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_267", + "trajectory_length": 95, + "key_frame_indices": [ + 0, + 29, + 94 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_267.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_244", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_244/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_244/frame_0198.jpg", + "maniskill/PegInsertionSide/images/episode_244/frame_0207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.163, 0.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.555, 0.366]). The trajectory involves 130 precise waypoints with total movement distance of 0.502." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_244", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 120, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_244.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_311", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_311/frame_0076.jpg", + "maniskill/PegInsertionSide/images/episode_311/frame_0195.jpg", + "maniskill/PegInsertionSide/images/episode_311/frame_0205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.165, 0.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.579, 0.383]). The trajectory involves 130 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_311", + "trajectory_length": 130, + "key_frame_indices": [ + 0, + 119, + 129 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_311.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_937", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_937/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_937/frame_0160.jpg", + "maniskill/PegInsertionSide/images/episode_937/frame_0169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.467]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.623, 0.366]). The trajectory involves 99 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_937", + "trajectory_length": 99, + "key_frame_indices": [ + 0, + 89, + 98 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_937.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_17", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_17/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_17/frame_0079.jpg", + "maniskill/PegInsertionSide/images/episode_17/frame_0133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.156, 0.574]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.631, 0.470]). The trajectory involves 82 precise waypoints with total movement distance of 0.513." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_17", + "trajectory_length": 82, + "key_frame_indices": [ + 0, + 27, + 81 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_17.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_981", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_981/frame_0054.jpg", + "maniskill/PegInsertionSide/images/episode_981/frame_0122.jpg", + "maniskill/PegInsertionSide/images/episode_981/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.497]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.592, 0.437]). The trajectory involves 78 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_981", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 68, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_981.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_730", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_730/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_730/frame_0113.jpg", + "maniskill/PegInsertionSide/images/episode_730/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.478]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.571, 0.453]). The trajectory involves 72 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_730", + "trajectory_length": 72, + "key_frame_indices": [ + 0, + 62, + 71 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_730.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_618", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_618/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_618/frame_0178.jpg", + "maniskill/PegInsertionSide/images/episode_618/frame_0188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.143, 0.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.712, 0.506]). The trajectory involves 126 precise waypoints with total movement distance of 0.667." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_618", + "trajectory_length": 126, + "key_frame_indices": [ + 0, + 115, + 125 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_618.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_306", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_306/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_306/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_306/frame_0114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.605]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.717, 0.534]). The trajectory involves 67 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_306", + "trajectory_length": 67, + "key_frame_indices": [ + 0, + 18, + 66 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_306.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_630", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_630/frame_0038.jpg", + "maniskill/PegInsertionSide/images/episode_630/frame_0118.jpg", + "maniskill/PegInsertionSide/images/episode_630/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.245, 0.507]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.516, 0.525]). The trajectory involves 91 precise waypoints with total movement distance of 0.357." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_630", + "trajectory_length": 91, + "key_frame_indices": [ + 0, + 80, + 90 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_630.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_687", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_687/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_687/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_687/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.631]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.730, 0.456]). The trajectory involves 71 precise waypoints with total movement distance of 0.448." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_687", + "trajectory_length": 71, + "key_frame_indices": [ + 0, + 22, + 70 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_687.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_402", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_402/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_402/frame_0106.jpg", + "maniskill/PegInsertionSide/images/episode_402/frame_0115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.559]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.542, 0.487]). The trajectory involves 76 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_402", + "trajectory_length": 76, + "key_frame_indices": [ + 0, + 66, + 75 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_402.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_750", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_750/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_750/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_750/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.168, 0.479]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.568, 0.415]). The trajectory involves 74 precise waypoints with total movement distance of 0.437." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_750", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 23, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_750.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_325", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_325/frame_0074.jpg", + "maniskill/PegInsertionSide/images/episode_325/frame_0180.jpg", + "maniskill/PegInsertionSide/images/episode_325/frame_0189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.205, 0.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.637, 0.410]). The trajectory involves 116 precise waypoints with total movement distance of 0.545." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_325", + "trajectory_length": 116, + "key_frame_indices": [ + 0, + 106, + 115 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_325.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_531", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_531/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_531/frame_0071.jpg", + "maniskill/PegInsertionSide/images/episode_531/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.144, 0.485]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.742, 0.545]). The trajectory involves 78 precise waypoints with total movement distance of 0.629." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_531", + "trajectory_length": 78, + "key_frame_indices": [ + 0, + 26, + 77 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_531.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_869", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_869/frame_0059.jpg", + "maniskill/PegInsertionSide/images/episode_869/frame_0169.jpg", + "maniskill/PegInsertionSide/images/episode_869/frame_0178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.208, 0.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.626, 0.417]). The trajectory involves 120 precise waypoints with total movement distance of 0.496." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_869", + "trajectory_length": 120, + "key_frame_indices": [ + 0, + 110, + 119 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_869.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_957", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_957/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_957/frame_0129.jpg", + "maniskill/PegInsertionSide/images/episode_957/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.362, 0.513]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.548, 0.477]). The trajectory involves 85 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_957", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 76, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_957.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_256", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_256/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_256/frame_0184.jpg", + "maniskill/PegInsertionSide/images/episode_256/frame_0194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.165, 0.628]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.588, 0.372]). The trajectory involves 122 precise waypoints with total movement distance of 0.579." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_256", + "trajectory_length": 122, + "key_frame_indices": [ + 0, + 111, + 121 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_256.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_858", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_858/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_858/frame_0107.jpg", + "maniskill/PegInsertionSide/images/episode_858/frame_0117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.365, 0.490]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.546, 0.402]). The trajectory involves 79 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_858", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 68, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_858.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_169", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_169/frame_0053.jpg", + "maniskill/PegInsertionSide/images/episode_169/frame_0159.jpg", + "maniskill/PegInsertionSide/images/episode_169/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.689, 0.396]). The trajectory involves 119 precise waypoints with total movement distance of 0.458." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_169", + "trajectory_length": 119, + "key_frame_indices": [ + 0, + 106, + 118 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_169.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_626", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_626/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_626/frame_0113.jpg", + "maniskill/PegInsertionSide/images/episode_626/frame_0122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.290, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.708, 0.415]). The trajectory involves 83 precise waypoints with total movement distance of 0.448." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_626", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 73, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_626.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_917", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_917/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_917/frame_0072.jpg", + "maniskill/PegInsertionSide/images/episode_917/frame_0131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.137, 0.508]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.650, 0.421]). The trajectory involves 85 precise waypoints with total movement distance of 0.572." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_917", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 25, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_917.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_517", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_517/frame_0039.jpg", + "maniskill/PegInsertionSide/images/episode_517/frame_0063.jpg", + "maniskill/PegInsertionSide/images/episode_517/frame_0126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.307, 0.555]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.819, 0.456]). The trajectory involves 88 precise waypoints with total movement distance of 0.582." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_517", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 24, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_517.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_319", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_319/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_319/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_319/frame_0137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.231, 0.583]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.650, 0.479]). The trajectory involves 87 precise waypoints with total movement distance of 0.485." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_319", + "trajectory_length": 87, + "key_frame_indices": [ + 0, + 26, + 86 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_319.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_464", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_464/frame_0045.jpg", + "maniskill/PegInsertionSide/images/episode_464/frame_0112.jpg", + "maniskill/PegInsertionSide/images/episode_464/frame_0121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.309, 0.546]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.535, 0.427]). The trajectory involves 77 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_464", + "trajectory_length": 77, + "key_frame_indices": [ + 0, + 67, + 76 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_464.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_312", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_312/frame_0044.jpg", + "maniskill/PegInsertionSide/images/episode_312/frame_0118.jpg", + "maniskill/PegInsertionSide/images/episode_312/frame_0128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.365, 0.466]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.555, 0.300]). The trajectory involves 85 precise waypoints with total movement distance of 0.400." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_312", + "trajectory_length": 85, + "key_frame_indices": [ + 0, + 74, + 84 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_312.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_550", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_550/frame_0040.jpg", + "maniskill/PegInsertionSide/images/episode_550/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_550/frame_0123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.284, 0.517]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.830, 0.373]). The trajectory involves 84 precise waypoints with total movement distance of 0.604." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_550", + "trajectory_length": 84, + "key_frame_indices": [ + 0, + 24, + 83 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_550.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_171", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_171/frame_0055.jpg", + "maniskill/PegInsertionSide/images/episode_171/frame_0132.jpg", + "maniskill/PegInsertionSide/images/episode_171/frame_0143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.250, 0.608]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.632, 0.428]). The trajectory involves 89 precise waypoints with total movement distance of 0.467." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_171", + "trajectory_length": 89, + "key_frame_indices": [ + 0, + 77, + 88 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_171.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_956", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_956/frame_0046.jpg", + "maniskill/PegInsertionSide/images/episode_956/frame_0066.jpg", + "maniskill/PegInsertionSide/images/episode_956/frame_0113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.384, 0.457]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.630, 0.383]). The trajectory involves 68 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_956", + "trajectory_length": 68, + "key_frame_indices": [ + 0, + 20, + 67 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_956.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_915", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_915/frame_0051.jpg", + "maniskill/PegInsertionSide/images/episode_915/frame_0078.jpg", + "maniskill/PegInsertionSide/images/episode_915/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.308, 0.634]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.602, 0.345]). The trajectory involves 86 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_915", + "trajectory_length": 86, + "key_frame_indices": [ + 0, + 27, + 85 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_915.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_308", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_308/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_308/frame_0107.jpg", + "maniskill/PegInsertionSide/images/episode_308/frame_0184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.132, 0.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.635, 0.402]). The trajectory involves 118 precise waypoints with total movement distance of 0.600." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_308", + "trajectory_length": 118, + "key_frame_indices": [ + 0, + 40, + 117 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_308.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_816", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_816/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_816/frame_0111.jpg", + "maniskill/PegInsertionSide/images/episode_816/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.301, 0.562]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.512, 0.511]). The trajectory involves 69 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_816", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 59, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_816.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_75", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_75/frame_0000.jpg", + "maniskill/PegInsertionSide/images/episode_75/frame_0112.jpg", + "maniskill/PegInsertionSide/images/episode_75/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 0.492]). The trajectory involves 121 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_75", + "trajectory_length": 121, + "key_frame_indices": [ + 0, + 112, + 120 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_75.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_274", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_274/frame_0061.jpg", + "maniskill/PegInsertionSide/images/episode_274/frame_0099.jpg", + "maniskill/PegInsertionSide/images/episode_274/frame_0171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.156, 0.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.676, 0.411]). The trajectory involves 111 precise waypoints with total movement distance of 0.584." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_274", + "trajectory_length": 111, + "key_frame_indices": [ + 0, + 38, + 110 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_274.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_610", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_610/frame_0047.jpg", + "maniskill/PegInsertionSide/images/episode_610/frame_0143.jpg", + "maniskill/PegInsertionSide/images/episode_610/frame_0153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.199, 0.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.620, 0.430]). The trajectory involves 107 precise waypoints with total movement distance of 0.543." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_610", + "trajectory_length": 107, + "key_frame_indices": [ + 0, + 96, + 106 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_610.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_13", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_13/frame_0058.jpg", + "maniskill/PegInsertionSide/images/episode_13/frame_0087.jpg", + "maniskill/PegInsertionSide/images/episode_13/frame_0151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.137, 0.629]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.596, 0.493]). The trajectory involves 94 precise waypoints with total movement distance of 0.568." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_13", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 29, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_13.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_538", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_538/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_538/frame_0107.jpg", + "maniskill/PegInsertionSide/images/episode_538/frame_0116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.371, 0.464]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.672, 0.432]). The trajectory involves 74 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_538", + "trajectory_length": 74, + "key_frame_indices": [ + 0, + 64, + 73 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_538.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_884", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_884/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_884/frame_0128.jpg", + "maniskill/PegInsertionSide/images/episode_884/frame_0136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.370, 0.471]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.731, 0.557]). The trajectory involves 94 precise waypoints with total movement distance of 0.446." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_884", + "trajectory_length": 94, + "key_frame_indices": [ + 0, + 85, + 93 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_884.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_485", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_485/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_485/frame_0077.jpg", + "maniskill/PegInsertionSide/images/episode_485/frame_0139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.185, 0.607]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.733, 0.482]). The trajectory involves 88 precise waypoints with total movement distance of 0.656." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_485", + "trajectory_length": 88, + "key_frame_indices": [ + 0, + 25, + 87 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_485.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_501", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_501/frame_0043.jpg", + "maniskill/PegInsertionSide/images/episode_501/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_501/frame_0125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.187, 0.453]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.565, 0.564]). The trajectory involves 83 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_501", + "trajectory_length": 83, + "key_frame_indices": [ + 0, + 24, + 82 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_501.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_336", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_336/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_336/frame_0107.jpg", + "maniskill/PegInsertionSide/images/episode_336/frame_0119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.355, 0.482]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.558, 0.341]). The trajectory involves 79 precise waypoints with total movement distance of 0.340." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_336", + "trajectory_length": 79, + "key_frame_indices": [ + 0, + 66, + 78 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_336.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_160", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_160/frame_0064.jpg", + "maniskill/PegInsertionSide/images/episode_160/frame_0147.jpg", + "maniskill/PegInsertionSide/images/episode_160/frame_0156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.613]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.574, 0.483]). The trajectory involves 93 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_160", + "trajectory_length": 93, + "key_frame_indices": [ + 0, + 83, + 92 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_160.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_406", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_406/frame_0067.jpg", + "maniskill/PegInsertionSide/images/episode_406/frame_0157.jpg", + "maniskill/PegInsertionSide/images/episode_406/frame_0166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.276, 0.491]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.524, 0.420]). The trajectory involves 100 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_406", + "trajectory_length": 100, + "key_frame_indices": [ + 0, + 90, + 99 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_406.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_395", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_395/frame_0041.jpg", + "maniskill/PegInsertionSide/images/episode_395/frame_0073.jpg", + "maniskill/PegInsertionSide/images/episode_395/frame_0130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.225, 0.450]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.777, 0.365]). The trajectory involves 90 precise waypoints with total movement distance of 0.628." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_395", + "trajectory_length": 90, + "key_frame_indices": [ + 0, + 32, + 89 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_395.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_761", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_761/frame_0048.jpg", + "maniskill/PegInsertionSide/images/episode_761/frame_0080.jpg", + "maniskill/PegInsertionSide/images/episode_761/frame_0145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.182, 0.595]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.498, 0.434]). The trajectory involves 98 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_761", + "trajectory_length": 98, + "key_frame_indices": [ + 0, + 32, + 97 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_761.json" + } + }, + { + "id": "maniskill_PegInsertionSide_out_777", + "task": "Pick up a orange-white peg and insert the orange end into the box with a hole in it.", + "selected_step": 1, + "image": [ + "maniskill/PegInsertionSide/images/episode_777/frame_0052.jpg", + "maniskill/PegInsertionSide/images/episode_777/frame_0111.jpg", + "maniskill/PegInsertionSide/images/episode_777/frame_0120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Pick up a orange-white peg and insert the orange end into the box with a hole in it.?" + }, + { + "from": "gpt", + "value": "To complete this maniskill manipulation: Pick up a orange-white peg and insert the orange end into the box with a hole in it., execute the following phases: 1) Initial approach phase (start at [0.301, 0.562]), 2) Active manipulation phase (perform moderate movements), 3) Completion phase (end at [0.512, 0.511]). The trajectory involves 69 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PegInsertionSide", + "episode_id": "out_777", + "trajectory_length": 69, + "key_frame_indices": [ + 0, + 59, + 68 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PegInsertionSide/label/out_777.json" + } + }, + { + "id": "maniskill_PushCube_out_449", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_449/frame_0047.jpg", + "maniskill/PushCube/images/episode_449/frame_0053.jpg", + "maniskill/PushCube/images/episode_449/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.391, 0.486]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.387, 0.609]). The trajectory involves 20 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_449", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_449.json" + } + }, + { + "id": "maniskill_PushCube_out_899", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_899/frame_0040.jpg", + "maniskill/PushCube/images/episode_899/frame_0047.jpg", + "maniskill/PushCube/images/episode_899/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.428, 0.536]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.430, 0.675]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_899", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_899.json" + } + }, + { + "id": "maniskill_PushCube_out_916", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_916/frame_0043.jpg", + "maniskill/PushCube/images/episode_916/frame_0050.jpg", + "maniskill/PushCube/images/episode_916/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.440, 0.591]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.441, 0.735]). The trajectory involves 28 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_916", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 7, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_916.json" + } + }, + { + "id": "maniskill_PushCube_out_902", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_902/frame_0044.jpg", + "maniskill/PushCube/images/episode_902/frame_0050.jpg", + "maniskill/PushCube/images/episode_902/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.463, 0.524]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.470, 0.652]). The trajectory involves 25 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_902", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 6, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_902.json" + } + }, + { + "id": "maniskill_PushCube_out_708", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_708/frame_0044.jpg", + "maniskill/PushCube/images/episode_708/frame_0050.jpg", + "maniskill/PushCube/images/episode_708/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.350, 0.515]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.342, 0.654]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_708", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_708.json" + } + }, + { + "id": "maniskill_PushCube_out_168", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_168/frame_0047.jpg", + "maniskill/PushCube/images/episode_168/frame_0053.jpg", + "maniskill/PushCube/images/episode_168/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.468]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.341, 0.597]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_168", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_168.json" + } + }, + { + "id": "maniskill_PushCube_out_334", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_334/frame_0029.jpg", + "maniskill/PushCube/images/episode_334/frame_0056.jpg", + "maniskill/PushCube/images/episode_334/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.409, 0.426]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.409, 0.555]). The trajectory involves 42 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_334", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 27, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_334.json" + } + }, + { + "id": "maniskill_PushCube_out_904", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_904/frame_0045.jpg", + "maniskill/PushCube/images/episode_904/frame_0051.jpg", + "maniskill/PushCube/images/episode_904/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.404, 0.507]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.403, 0.640]). The trajectory involves 20 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_904", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_904.json" + } + }, + { + "id": "maniskill_PushCube_out_356", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_356/frame_0045.jpg", + "maniskill/PushCube/images/episode_356/frame_0055.jpg", + "maniskill/PushCube/images/episode_356/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.641]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.318, 0.786]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_356", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_356.json" + } + }, + { + "id": "maniskill_PushCube_out_432", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_432/frame_0043.jpg", + "maniskill/PushCube/images/episode_432/frame_0050.jpg", + "maniskill/PushCube/images/episode_432/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.452, 0.549]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.689]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_432", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_432.json" + } + }, + { + "id": "maniskill_PushCube_out_875", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_875/frame_0049.jpg", + "maniskill/PushCube/images/episode_875/frame_0055.jpg", + "maniskill/PushCube/images/episode_875/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.434, 0.427]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.436, 0.555]). The trajectory involves 21 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_875", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_875.json" + } + }, + { + "id": "maniskill_PushCube_out_362", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_362/frame_0045.jpg", + "maniskill/PushCube/images/episode_362/frame_0052.jpg", + "maniskill/PushCube/images/episode_362/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.422, 0.501]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.421, 0.640]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_362", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_362.json" + } + }, + { + "id": "maniskill_PushCube_out_315", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_315/frame_0040.jpg", + "maniskill/PushCube/images/episode_315/frame_0048.jpg", + "maniskill/PushCube/images/episode_315/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.595]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.341, 0.743]). The trajectory involves 26 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_315", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_315.json" + } + }, + { + "id": "maniskill_PushCube_out_633", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_633/frame_0046.jpg", + "maniskill/PushCube/images/episode_633/frame_0053.jpg", + "maniskill/PushCube/images/episode_633/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.473]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.382, 0.602]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_633", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_633.json" + } + }, + { + "id": "maniskill_PushCube_out_369", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_369/frame_0048.jpg", + "maniskill/PushCube/images/episode_369/frame_0055.jpg", + "maniskill/PushCube/images/episode_369/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.314, 0.517]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.299, 0.645]). The trajectory involves 26 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_369", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_369.json" + } + }, + { + "id": "maniskill_PushCube_out_27", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_27/frame_0039.jpg", + "maniskill/PushCube/images/episode_27/frame_0046.jpg", + "maniskill/PushCube/images/episode_27/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.443, 0.553]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.447, 0.693]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_27", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_27.json" + } + }, + { + "id": "maniskill_PushCube_out_296", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_296/frame_0043.jpg", + "maniskill/PushCube/images/episode_296/frame_0049.jpg", + "maniskill/PushCube/images/episode_296/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.521]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.385, 0.660]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_296", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_296.json" + } + }, + { + "id": "maniskill_PushCube_out_873", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_873/frame_0048.jpg", + "maniskill/PushCube/images/episode_873/frame_0054.jpg", + "maniskill/PushCube/images/episode_873/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.459, 0.493]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.609]). The trajectory involves 20 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_873", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_873.json" + } + }, + { + "id": "maniskill_PushCube_out_235", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_235/frame_0049.jpg", + "maniskill/PushCube/images/episode_235/frame_0055.jpg", + "maniskill/PushCube/images/episode_235/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.475, 0.483]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.485, 0.597]). The trajectory involves 20 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_235", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_235.json" + } + }, + { + "id": "maniskill_PushCube_out_249", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_249/frame_0058.jpg", + "maniskill/PushCube/images/episode_249/frame_0064.jpg", + "maniskill/PushCube/images/episode_249/frame_0080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.406, 0.435]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.409, 0.549]). The trajectory involves 23 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_249", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_249.json" + } + }, + { + "id": "maniskill_PushCube_out_598", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_598/frame_0041.jpg", + "maniskill/PushCube/images/episode_598/frame_0048.jpg", + "maniskill/PushCube/images/episode_598/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.565]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.709]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_598", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_598.json" + } + }, + { + "id": "maniskill_PushCube_out_23", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_23/frame_0044.jpg", + "maniskill/PushCube/images/episode_23/frame_0051.jpg", + "maniskill/PushCube/images/episode_23/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.586]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.371, 0.725]). The trajectory involves 25 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_23", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_23.json" + } + }, + { + "id": "maniskill_PushCube_out_307", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_307/frame_0047.jpg", + "maniskill/PushCube/images/episode_307/frame_0054.jpg", + "maniskill/PushCube/images/episode_307/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.520]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.652]). The trajectory involves 23 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_307", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_307.json" + } + }, + { + "id": "maniskill_PushCube_out_16", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_16/frame_0047.jpg", + "maniskill/PushCube/images/episode_16/frame_0053.jpg", + "maniskill/PushCube/images/episode_16/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.406, 0.509]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.413, 0.629]). The trajectory involves 20 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_16", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_16.json" + } + }, + { + "id": "maniskill_PushCube_out_967", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_967/frame_0044.jpg", + "maniskill/PushCube/images/episode_967/frame_0051.jpg", + "maniskill/PushCube/images/episode_967/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.497]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.357, 0.629]). The trajectory involves 21 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_967", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_967.json" + } + }, + { + "id": "maniskill_PushCube_out_15", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_15/frame_0052.jpg", + "maniskill/PushCube/images/episode_15/frame_0058.jpg", + "maniskill/PushCube/images/episode_15/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.422, 0.450]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.424, 0.568]). The trajectory involves 21 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_15", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_15.json" + } + }, + { + "id": "maniskill_PushCube_out_822", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_822/frame_0043.jpg", + "maniskill/PushCube/images/episode_822/frame_0051.jpg", + "maniskill/PushCube/images/episode_822/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.426, 0.623]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.426, 0.775]). The trajectory involves 28 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_822", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_822.json" + } + }, + { + "id": "maniskill_PushCube_out_318", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_318/frame_0048.jpg", + "maniskill/PushCube/images/episode_318/frame_0055.jpg", + "maniskill/PushCube/images/episode_318/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.368, 0.511]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.364, 0.650]). The trajectory involves 25 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_318", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_318.json" + } + }, + { + "id": "maniskill_PushCube_out_543", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_543/frame_0031.jpg", + "maniskill/PushCube/images/episode_543/frame_0056.jpg", + "maniskill/PushCube/images/episode_543/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.359, 0.417]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.352, 0.536]). The trajectory involves 43 precise waypoints with total movement distance of 0.125." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_543", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 25, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_543.json" + } + }, + { + "id": "maniskill_PushCube_out_924", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_924/frame_0043.jpg", + "maniskill/PushCube/images/episode_924/frame_0050.jpg", + "maniskill/PushCube/images/episode_924/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.604]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.416, 0.752]). The trajectory involves 26 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_924", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_924.json" + } + }, + { + "id": "maniskill_PushCube_out_800", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_800/frame_0044.jpg", + "maniskill/PushCube/images/episode_800/frame_0051.jpg", + "maniskill/PushCube/images/episode_800/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.474]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.386, 0.604]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_800", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_800.json" + } + }, + { + "id": "maniskill_PushCube_out_210", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_210/frame_0049.jpg", + "maniskill/PushCube/images/episode_210/frame_0055.jpg", + "maniskill/PushCube/images/episode_210/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.321, 0.491]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.312, 0.622]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_210", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_210.json" + } + }, + { + "id": "maniskill_PushCube_out_194", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_194/frame_0046.jpg", + "maniskill/PushCube/images/episode_194/frame_0053.jpg", + "maniskill/PushCube/images/episode_194/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.439]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.376, 0.569]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_194", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_194.json" + } + }, + { + "id": "maniskill_PushCube_out_859", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_859/frame_0046.jpg", + "maniskill/PushCube/images/episode_859/frame_0053.jpg", + "maniskill/PushCube/images/episode_859/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.402, 0.458]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.399, 0.579]). The trajectory involves 22 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_859", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_859.json" + } + }, + { + "id": "maniskill_PushCube_out_507", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_507/frame_0048.jpg", + "maniskill/PushCube/images/episode_507/frame_0057.jpg", + "maniskill/PushCube/images/episode_507/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.624]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.320, 0.768]). The trajectory involves 28 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_507", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 9, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_507.json" + } + }, + { + "id": "maniskill_PushCube_out_771", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_771/frame_0031.jpg", + "maniskill/PushCube/images/episode_771/frame_0059.jpg", + "maniskill/PushCube/images/episode_771/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.423, 0.419]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.425, 0.533]). The trajectory involves 44 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_771", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 28, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_771.json" + } + }, + { + "id": "maniskill_PushCube_out_85", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_85/frame_0040.jpg", + "maniskill/PushCube/images/episode_85/frame_0047.jpg", + "maniskill/PushCube/images/episode_85/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.437, 0.588]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.439, 0.732]). The trajectory involves 24 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_85", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_85.json" + } + }, + { + "id": "maniskill_PushCube_out_295", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_295/frame_0048.jpg", + "maniskill/PushCube/images/episode_295/frame_0055.jpg", + "maniskill/PushCube/images/episode_295/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.353, 0.567]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.342, 0.699]). The trajectory involves 22 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_295", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_295.json" + } + }, + { + "id": "maniskill_PushCube_out_163", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_163/frame_0045.jpg", + "maniskill/PushCube/images/episode_163/frame_0055.jpg", + "maniskill/PushCube/images/episode_163/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.477, 0.641]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.489, 0.787]). The trajectory involves 29 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_163", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_163.json" + } + }, + { + "id": "maniskill_PushCube_out_392", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_392/frame_0039.jpg", + "maniskill/PushCube/images/episode_392/frame_0046.jpg", + "maniskill/PushCube/images/episode_392/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.565]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.415, 0.709]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_392", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_392.json" + } + }, + { + "id": "maniskill_PushCube_out_671", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_671/frame_0046.jpg", + "maniskill/PushCube/images/episode_671/frame_0053.jpg", + "maniskill/PushCube/images/episode_671/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.321, 0.455]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.308, 0.571]). The trajectory involves 22 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_671", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_671.json" + } + }, + { + "id": "maniskill_PushCube_out_407", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_407/frame_0043.jpg", + "maniskill/PushCube/images/episode_407/frame_0050.jpg", + "maniskill/PushCube/images/episode_407/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.336, 0.563]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.327, 0.707]). The trajectory involves 24 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_407", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_407.json" + } + }, + { + "id": "maniskill_PushCube_out_558", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_558/frame_0045.jpg", + "maniskill/PushCube/images/episode_558/frame_0051.jpg", + "maniskill/PushCube/images/episode_558/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.427, 0.476]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.428, 0.607]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_558", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_558.json" + } + }, + { + "id": "maniskill_PushCube_out_631", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_631/frame_0051.jpg", + "maniskill/PushCube/images/episode_631/frame_0057.jpg", + "maniskill/PushCube/images/episode_631/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.468]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.385, 0.597]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_631", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_631.json" + } + }, + { + "id": "maniskill_PushCube_out_243", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_243/frame_0043.jpg", + "maniskill/PushCube/images/episode_243/frame_0050.jpg", + "maniskill/PushCube/images/episode_243/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.335, 0.580]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.326, 0.718]). The trajectory involves 25 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_243", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_243.json" + } + }, + { + "id": "maniskill_PushCube_out_469", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_469/frame_0052.jpg", + "maniskill/PushCube/images/episode_469/frame_0057.jpg", + "maniskill/PushCube/images/episode_469/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.390, 0.452]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.387, 0.568]). The trajectory involves 21 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_469", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 5, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_469.json" + } + }, + { + "id": "maniskill_PushCube_out_14", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_14/frame_0047.jpg", + "maniskill/PushCube/images/episode_14/frame_0053.jpg", + "maniskill/PushCube/images/episode_14/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.479]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.354, 0.610]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_14", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_14.json" + } + }, + { + "id": "maniskill_PushCube_out_685", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_685/frame_0043.jpg", + "maniskill/PushCube/images/episode_685/frame_0049.jpg", + "maniskill/PushCube/images/episode_685/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.428, 0.522]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.430, 0.661]). The trajectory involves 23 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_685", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_685.json" + } + }, + { + "id": "maniskill_PushCube_out_878", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_878/frame_0045.jpg", + "maniskill/PushCube/images/episode_878/frame_0052.jpg", + "maniskill/PushCube/images/episode_878/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.561]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.364, 0.693]). The trajectory involves 23 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_878", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_878.json" + } + }, + { + "id": "maniskill_PushCube_out_463", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_463/frame_0044.jpg", + "maniskill/PushCube/images/episode_463/frame_0052.jpg", + "maniskill/PushCube/images/episode_463/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.638]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.396, 0.788]). The trajectory involves 27 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_463", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_463.json" + } + }, + { + "id": "maniskill_PushCube_out_568", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_568/frame_0042.jpg", + "maniskill/PushCube/images/episode_568/frame_0049.jpg", + "maniskill/PushCube/images/episode_568/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.513]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.454, 0.651]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_568", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_568.json" + } + }, + { + "id": "maniskill_PushCube_out_198", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_198/frame_0047.jpg", + "maniskill/PushCube/images/episode_198/frame_0055.jpg", + "maniskill/PushCube/images/episode_198/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.479, 0.501]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.484, 0.631]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_198", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 8, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_198.json" + } + }, + { + "id": "maniskill_PushCube_out_770", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_770/frame_0046.jpg", + "maniskill/PushCube/images/episode_770/frame_0052.jpg", + "maniskill/PushCube/images/episode_770/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.454, 0.448]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.458, 0.578]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_770", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_770.json" + } + }, + { + "id": "maniskill_PushCube_out_513", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_513/frame_0043.jpg", + "maniskill/PushCube/images/episode_513/frame_0049.jpg", + "maniskill/PushCube/images/episode_513/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.325, 0.498]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.314, 0.630]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_513", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_513.json" + } + }, + { + "id": "maniskill_PushCube_out_177", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_177/frame_0048.jpg", + "maniskill/PushCube/images/episode_177/frame_0054.jpg", + "maniskill/PushCube/images/episode_177/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.472, 0.448]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.477, 0.566]). The trajectory involves 20 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_177", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_177.json" + } + }, + { + "id": "maniskill_PushCube_out_650", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_650/frame_0042.jpg", + "maniskill/PushCube/images/episode_650/frame_0049.jpg", + "maniskill/PushCube/images/episode_650/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.525]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.378, 0.663]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_650", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_650.json" + } + }, + { + "id": "maniskill_PushCube_out_412", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_412/frame_0046.jpg", + "maniskill/PushCube/images/episode_412/frame_0055.jpg", + "maniskill/PushCube/images/episode_412/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.440, 0.593]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.448, 0.736]). The trajectory involves 28 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_412", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 9, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_412.json" + } + }, + { + "id": "maniskill_PushCube_out_192", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_192/frame_0045.jpg", + "maniskill/PushCube/images/episode_192/frame_0052.jpg", + "maniskill/PushCube/images/episode_192/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.369, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.363, 0.666]). The trajectory involves 24 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_192", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_192.json" + } + }, + { + "id": "maniskill_PushCube_out_684", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_684/frame_0042.jpg", + "maniskill/PushCube/images/episode_684/frame_0049.jpg", + "maniskill/PushCube/images/episode_684/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.493, 0.589]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.500, 0.734]). The trajectory involves 23 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_684", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_684.json" + } + }, + { + "id": "maniskill_PushCube_out_358", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_358/frame_0032.jpg", + "maniskill/PushCube/images/episode_358/frame_0057.jpg", + "maniskill/PushCube/images/episode_358/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.453, 0.420]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.460, 0.536]). The trajectory involves 43 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_358", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 25, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_358.json" + } + }, + { + "id": "maniskill_PushCube_out_396", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_396/frame_0044.jpg", + "maniskill/PushCube/images/episode_396/frame_0051.jpg", + "maniskill/PushCube/images/episode_396/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.452, 0.548]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.451, 0.677]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_396", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_396.json" + } + }, + { + "id": "maniskill_PushCube_out_845", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_845/frame_0047.jpg", + "maniskill/PushCube/images/episode_845/frame_0056.jpg", + "maniskill/PushCube/images/episode_845/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.453, 0.639]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.460, 0.784]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_845", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_845.json" + } + }, + { + "id": "maniskill_PushCube_out_105", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_105/frame_0043.jpg", + "maniskill/PushCube/images/episode_105/frame_0050.jpg", + "maniskill/PushCube/images/episode_105/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.352, 0.596]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.348, 0.740]). The trajectory involves 24 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_105", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_105.json" + } + }, + { + "id": "maniskill_PushCube_out_40", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_40/frame_0043.jpg", + "maniskill/PushCube/images/episode_40/frame_0051.jpg", + "maniskill/PushCube/images/episode_40/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.481, 0.615]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.484, 0.763]). The trajectory involves 25 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_40", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_40.json" + } + }, + { + "id": "maniskill_PushCube_out_331", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_331/frame_0041.jpg", + "maniskill/PushCube/images/episode_331/frame_0048.jpg", + "maniskill/PushCube/images/episode_331/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.589]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.387, 0.733]). The trajectory involves 23 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_331", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_331.json" + } + }, + { + "id": "maniskill_PushCube_out_712", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_712/frame_0053.jpg", + "maniskill/PushCube/images/episode_712/frame_0058.jpg", + "maniskill/PushCube/images/episode_712/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.429]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.324, 0.542]). The trajectory involves 23 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_712", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 5, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_712.json" + } + }, + { + "id": "maniskill_PushCube_out_423", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_423/frame_0045.jpg", + "maniskill/PushCube/images/episode_423/frame_0051.jpg", + "maniskill/PushCube/images/episode_423/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.488]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.619]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_423", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_423.json" + } + }, + { + "id": "maniskill_PushCube_out_717", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_717/frame_0045.jpg", + "maniskill/PushCube/images/episode_717/frame_0051.jpg", + "maniskill/PushCube/images/episode_717/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.482, 0.459]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.489, 0.587]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_717", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_717.json" + } + }, + { + "id": "maniskill_PushCube_out_619", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_619/frame_0043.jpg", + "maniskill/PushCube/images/episode_619/frame_0050.jpg", + "maniskill/PushCube/images/episode_619/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.454, 0.576]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.459, 0.720]). The trajectory involves 25 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_619", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_619.json" + } + }, + { + "id": "maniskill_PushCube_out_655", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_655/frame_0050.jpg", + "maniskill/PushCube/images/episode_655/frame_0056.jpg", + "maniskill/PushCube/images/episode_655/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.482]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.353, 0.612]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_655", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_655.json" + } + }, + { + "id": "maniskill_PushCube_out_83", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_83/frame_0040.jpg", + "maniskill/PushCube/images/episode_83/frame_0050.jpg", + "maniskill/PushCube/images/episode_83/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.598]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.743]). The trajectory involves 29 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_83", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_83.json" + } + }, + { + "id": "maniskill_PushCube_out_242", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_242/frame_0048.jpg", + "maniskill/PushCube/images/episode_242/frame_0055.jpg", + "maniskill/PushCube/images/episode_242/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.492, 0.592]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.504, 0.728]). The trajectory involves 24 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_242", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_242.json" + } + }, + { + "id": "maniskill_PushCube_out_542", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_542/frame_0047.jpg", + "maniskill/PushCube/images/episode_542/frame_0054.jpg", + "maniskill/PushCube/images/episode_542/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.332, 0.538]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.323, 0.665]). The trajectory involves 22 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_542", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_542.json" + } + }, + { + "id": "maniskill_PushCube_out_164", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_164/frame_0027.jpg", + "maniskill/PushCube/images/episode_164/frame_0052.jpg", + "maniskill/PushCube/images/episode_164/frame_0058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.436, 0.424]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.445, 0.548]). The trajectory involves 32 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_164", + "trajectory_length": 32, + "key_frame_indices": [ + 0, + 25, + 31 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_164.json" + } + }, + { + "id": "maniskill_PushCube_out_450", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_450/frame_0041.jpg", + "maniskill/PushCube/images/episode_450/frame_0048.jpg", + "maniskill/PushCube/images/episode_450/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.492]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.384, 0.626]). The trajectory involves 21 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_450", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_450.json" + } + }, + { + "id": "maniskill_PushCube_out_663", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_663/frame_0042.jpg", + "maniskill/PushCube/images/episode_663/frame_0049.jpg", + "maniskill/PushCube/images/episode_663/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.405, 0.574]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.406, 0.713]). The trajectory involves 27 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_663", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_663.json" + } + }, + { + "id": "maniskill_PushCube_out_374", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_374/frame_0041.jpg", + "maniskill/PushCube/images/episode_374/frame_0051.jpg", + "maniskill/PushCube/images/episode_374/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.486, 0.604]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.492, 0.750]). The trajectory involves 32 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_374", + "trajectory_length": 32, + "key_frame_indices": [ + 0, + 10, + 31 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_374.json" + } + }, + { + "id": "maniskill_PushCube_out_159", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_159/frame_0041.jpg", + "maniskill/PushCube/images/episode_159/frame_0049.jpg", + "maniskill/PushCube/images/episode_159/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.496]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.300, 0.628]). The trajectory involves 21 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_159", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 8, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_159.json" + } + }, + { + "id": "maniskill_PushCube_out_271", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_271/frame_0049.jpg", + "maniskill/PushCube/images/episode_271/frame_0058.jpg", + "maniskill/PushCube/images/episode_271/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.367, 0.633]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.780]). The trajectory involves 30 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_271", + "trajectory_length": 30, + "key_frame_indices": [ + 0, + 9, + 29 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_271.json" + } + }, + { + "id": "maniskill_PushCube_out_728", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_728/frame_0046.jpg", + "maniskill/PushCube/images/episode_728/frame_0053.jpg", + "maniskill/PushCube/images/episode_728/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.478, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.484, 0.653]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_728", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_728.json" + } + }, + { + "id": "maniskill_PushCube_out_38", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_38/frame_0049.jpg", + "maniskill/PushCube/images/episode_38/frame_0055.jpg", + "maniskill/PushCube/images/episode_38/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.467, 0.494]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.627]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_38", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_38.json" + } + }, + { + "id": "maniskill_PushCube_out_316", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_316/frame_0045.jpg", + "maniskill/PushCube/images/episode_316/frame_0052.jpg", + "maniskill/PushCube/images/episode_316/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.551]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.370, 0.691]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_316", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_316.json" + } + }, + { + "id": "maniskill_PushCube_out_64", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_64/frame_0043.jpg", + "maniskill/PushCube/images/episode_64/frame_0049.jpg", + "maniskill/PushCube/images/episode_64/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.300, 0.652]). The trajectory involves 24 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_64", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 6, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_64.json" + } + }, + { + "id": "maniskill_PushCube_out_206", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_206/frame_0047.jpg", + "maniskill/PushCube/images/episode_206/frame_0054.jpg", + "maniskill/PushCube/images/episode_206/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.452, 0.542]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.458, 0.671]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_206", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_206.json" + } + }, + { + "id": "maniskill_PushCube_out_30", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_30/frame_0045.jpg", + "maniskill/PushCube/images/episode_30/frame_0051.jpg", + "maniskill/PushCube/images/episode_30/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.465]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.594]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_30", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_30.json" + } + }, + { + "id": "maniskill_PushCube_out_273", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_273/frame_0029.jpg", + "maniskill/PushCube/images/episode_273/frame_0058.jpg", + "maniskill/PushCube/images/episode_273/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.357, 0.424]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.351, 0.552]). The trajectory involves 44 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_273", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 29, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_273.json" + } + }, + { + "id": "maniskill_PushCube_out_881", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_881/frame_0045.jpg", + "maniskill/PushCube/images/episode_881/frame_0054.jpg", + "maniskill/PushCube/images/episode_881/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.596]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.377, 0.739]). The trajectory involves 29 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_881", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_881.json" + } + }, + { + "id": "maniskill_PushCube_out_784", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_784/frame_0047.jpg", + "maniskill/PushCube/images/episode_784/frame_0054.jpg", + "maniskill/PushCube/images/episode_784/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.463, 0.433]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.549]). The trajectory involves 23 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_784", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_784.json" + } + }, + { + "id": "maniskill_PushCube_out_522", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_522/frame_0047.jpg", + "maniskill/PushCube/images/episode_522/frame_0056.jpg", + "maniskill/PushCube/images/episode_522/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.346, 0.633]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.336, 0.780]). The trajectory involves 32 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_522", + "trajectory_length": 32, + "key_frame_indices": [ + 0, + 9, + 31 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_522.json" + } + }, + { + "id": "maniskill_PushCube_out_907", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_907/frame_0047.jpg", + "maniskill/PushCube/images/episode_907/frame_0054.jpg", + "maniskill/PushCube/images/episode_907/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.387, 0.658]). The trajectory involves 25 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_907", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_907.json" + } + }, + { + "id": "maniskill_PushCube_out_722", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_722/frame_0049.jpg", + "maniskill/PushCube/images/episode_722/frame_0055.jpg", + "maniskill/PushCube/images/episode_722/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.470, 0.470]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.475, 0.600]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_722", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_722.json" + } + }, + { + "id": "maniskill_PushCube_out_574", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_574/frame_0043.jpg", + "maniskill/PushCube/images/episode_574/frame_0050.jpg", + "maniskill/PushCube/images/episode_574/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.375, 0.570]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.374, 0.714]). The trajectory involves 24 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_574", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_574.json" + } + }, + { + "id": "maniskill_PushCube_out_548", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_548/frame_0040.jpg", + "maniskill/PushCube/images/episode_548/frame_0048.jpg", + "maniskill/PushCube/images/episode_548/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.592]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.473, 0.732]). The trajectory involves 26 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_548", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_548.json" + } + }, + { + "id": "maniskill_PushCube_out_216", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_216/frame_0053.jpg", + "maniskill/PushCube/images/episode_216/frame_0059.jpg", + "maniskill/PushCube/images/episode_216/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.458]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.397, 0.574]). The trajectory involves 20 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_216", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_216.json" + } + }, + { + "id": "maniskill_PushCube_out_798", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_798/frame_0043.jpg", + "maniskill/PushCube/images/episode_798/frame_0049.jpg", + "maniskill/PushCube/images/episode_798/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.432, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.435, 0.655]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_798", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_798.json" + } + }, + { + "id": "maniskill_PushCube_out_158", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_158/frame_0048.jpg", + "maniskill/PushCube/images/episode_158/frame_0054.jpg", + "maniskill/PushCube/images/episode_158/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.453]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.324, 0.575]). The trajectory involves 19 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_158", + "trajectory_length": 19, + "key_frame_indices": [ + 0, + 6, + 18 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_158.json" + } + }, + { + "id": "maniskill_PushCube_out_661", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_661/frame_0043.jpg", + "maniskill/PushCube/images/episode_661/frame_0049.jpg", + "maniskill/PushCube/images/episode_661/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.485, 0.515]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.496, 0.653]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_661", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_661.json" + } + }, + { + "id": "maniskill_PushCube_out_736", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_736/frame_0049.jpg", + "maniskill/PushCube/images/episode_736/frame_0055.jpg", + "maniskill/PushCube/images/episode_736/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.430, 0.464]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.594]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_736", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_736.json" + } + }, + { + "id": "maniskill_PushCube_out_575", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_575/frame_0044.jpg", + "maniskill/PushCube/images/episode_575/frame_0050.jpg", + "maniskill/PushCube/images/episode_575/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.466]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.313, 0.596]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_575", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_575.json" + } + }, + { + "id": "maniskill_PushCube_out_276", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_276/frame_0046.jpg", + "maniskill/PushCube/images/episode_276/frame_0053.jpg", + "maniskill/PushCube/images/episode_276/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.440]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.392, 0.570]). The trajectory involves 22 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_276", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_276.json" + } + }, + { + "id": "maniskill_PushCube_out_145", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_145/frame_0046.jpg", + "maniskill/PushCube/images/episode_145/frame_0052.jpg", + "maniskill/PushCube/images/episode_145/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.480]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.315, 0.611]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_145", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_145.json" + } + }, + { + "id": "maniskill_PushCube_out_297", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_297/frame_0048.jpg", + "maniskill/PushCube/images/episode_297/frame_0054.jpg", + "maniskill/PushCube/images/episode_297/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.489]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.308, 0.603]). The trajectory involves 20 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_297", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_297.json" + } + }, + { + "id": "maniskill_PushCube_out_193", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_193/frame_0053.jpg", + "maniskill/PushCube/images/episode_193/frame_0059.jpg", + "maniskill/PushCube/images/episode_193/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.350, 0.455]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.344, 0.573]). The trajectory involves 21 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_193", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_193.json" + } + }, + { + "id": "maniskill_PushCube_out_521", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_521/frame_0042.jpg", + "maniskill/PushCube/images/episode_521/frame_0049.jpg", + "maniskill/PushCube/images/episode_521/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.471, 0.564]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.478, 0.707]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_521", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_521.json" + } + }, + { + "id": "maniskill_PushCube_out_545", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_545/frame_0042.jpg", + "maniskill/PushCube/images/episode_545/frame_0049.jpg", + "maniskill/PushCube/images/episode_545/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.355, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.350, 0.665]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_545", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_545.json" + } + }, + { + "id": "maniskill_PushCube_out_84", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_84/frame_0030.jpg", + "maniskill/PushCube/images/episode_84/frame_0055.jpg", + "maniskill/PushCube/images/episode_84/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.469, 0.418]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.477, 0.546]). The trajectory involves 43 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_84", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 25, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_84.json" + } + }, + { + "id": "maniskill_PushCube_out_807", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_807/frame_0044.jpg", + "maniskill/PushCube/images/episode_807/frame_0050.jpg", + "maniskill/PushCube/images/episode_807/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.471, 0.497]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.478, 0.629]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_807", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_807.json" + } + }, + { + "id": "maniskill_PushCube_out_892", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_892/frame_0044.jpg", + "maniskill/PushCube/images/episode_892/frame_0052.jpg", + "maniskill/PushCube/images/episode_892/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.435, 0.628]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.438, 0.774]). The trajectory involves 28 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_892", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_892.json" + } + }, + { + "id": "maniskill_PushCube_out_39", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_39/frame_0043.jpg", + "maniskill/PushCube/images/episode_39/frame_0049.jpg", + "maniskill/PushCube/images/episode_39/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.351, 0.466]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.343, 0.595]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_39", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_39.json" + } + }, + { + "id": "maniskill_PushCube_out_471", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_471/frame_0039.jpg", + "maniskill/PushCube/images/episode_471/frame_0047.jpg", + "maniskill/PushCube/images/episode_471/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.574]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.370, 0.718]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_471", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_471.json" + } + }, + { + "id": "maniskill_PushCube_out_257", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_257/frame_0030.jpg", + "maniskill/PushCube/images/episode_257/frame_0054.jpg", + "maniskill/PushCube/images/episode_257/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.425]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.457, 0.554]). The trajectory involves 41 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_257", + "trajectory_length": 41, + "key_frame_indices": [ + 0, + 24, + 40 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_257.json" + } + }, + { + "id": "maniskill_PushCube_out_55", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_55/frame_0044.jpg", + "maniskill/PushCube/images/episode_55/frame_0050.jpg", + "maniskill/PushCube/images/episode_55/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.429, 0.493]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.431, 0.617]). The trajectory involves 20 precise waypoints with total movement distance of 0.125." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_55", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_55.json" + } + }, + { + "id": "maniskill_PushCube_out_453", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_453/frame_0029.jpg", + "maniskill/PushCube/images/episode_453/frame_0060.jpg", + "maniskill/PushCube/images/episode_453/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.413, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.413, 0.556]). The trajectory involves 45 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_453", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 31, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_453.json" + } + }, + { + "id": "maniskill_PushCube_out_180", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_180/frame_0049.jpg", + "maniskill/PushCube/images/episode_180/frame_0055.jpg", + "maniskill/PushCube/images/episode_180/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.529]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.377, 0.660]). The trajectory involves 24 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_180", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 6, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_180.json" + } + }, + { + "id": "maniskill_PushCube_out_680", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_680/frame_0042.jpg", + "maniskill/PushCube/images/episode_680/frame_0049.jpg", + "maniskill/PushCube/images/episode_680/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.579]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.323, 0.722]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_680", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_680.json" + } + }, + { + "id": "maniskill_PushCube_out_176", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_176/frame_0048.jpg", + "maniskill/PushCube/images/episode_176/frame_0055.jpg", + "maniskill/PushCube/images/episode_176/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.429]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.328, 0.545]). The trajectory involves 24 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_176", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_176.json" + } + }, + { + "id": "maniskill_PushCube_out_945", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_945/frame_0044.jpg", + "maniskill/PushCube/images/episode_945/frame_0051.jpg", + "maniskill/PushCube/images/episode_945/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.309, 0.644]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.299, 0.789]). The trajectory involves 27 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_945", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_945.json" + } + }, + { + "id": "maniskill_PushCube_out_314", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_314/frame_0042.jpg", + "maniskill/PushCube/images/episode_314/frame_0050.jpg", + "maniskill/PushCube/images/episode_314/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.495, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.503, 0.760]). The trajectory involves 26 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_314", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_314.json" + } + }, + { + "id": "maniskill_PushCube_out_737", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_737/frame_0041.jpg", + "maniskill/PushCube/images/episode_737/frame_0049.jpg", + "maniskill/PushCube/images/episode_737/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.582]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.393, 0.731]). The trajectory involves 26 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_737", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_737.json" + } + }, + { + "id": "maniskill_PushCube_out_998", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_998/frame_0043.jpg", + "maniskill/PushCube/images/episode_998/frame_0051.jpg", + "maniskill/PushCube/images/episode_998/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.605]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.386, 0.748]). The trajectory involves 29 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_998", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 8, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_998.json" + } + }, + { + "id": "maniskill_PushCube_out_0", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_0/frame_0047.jpg", + "maniskill/PushCube/images/episode_0/frame_0054.jpg", + "maniskill/PushCube/images/episode_0/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.452, 0.662]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_0", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_0.json" + } + }, + { + "id": "maniskill_PushCube_out_329", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_329/frame_0042.jpg", + "maniskill/PushCube/images/episode_329/frame_0049.jpg", + "maniskill/PushCube/images/episode_329/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.568]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.323, 0.712]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_329", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_329.json" + } + }, + { + "id": "maniskill_PushCube_out_417", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_417/frame_0050.jpg", + "maniskill/PushCube/images/episode_417/frame_0056.jpg", + "maniskill/PushCube/images/episode_417/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.419, 0.451]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.567]). The trajectory involves 22 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_417", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_417.json" + } + }, + { + "id": "maniskill_PushCube_out_882", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_882/frame_0040.jpg", + "maniskill/PushCube/images/episode_882/frame_0048.jpg", + "maniskill/PushCube/images/episode_882/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.467, 0.489]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.473, 0.630]). The trajectory involves 24 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_882", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_882.json" + } + }, + { + "id": "maniskill_PushCube_out_408", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_408/frame_0049.jpg", + "maniskill/PushCube/images/episode_408/frame_0057.jpg", + "maniskill/PushCube/images/episode_408/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.609]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.302, 0.751]). The trajectory involves 26 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_408", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_408.json" + } + }, + { + "id": "maniskill_PushCube_out_389", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_389/frame_0047.jpg", + "maniskill/PushCube/images/episode_389/frame_0053.jpg", + "maniskill/PushCube/images/episode_389/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.357, 0.491]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.351, 0.623]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_389", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_389.json" + } + }, + { + "id": "maniskill_PushCube_out_201", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_201/frame_0045.jpg", + "maniskill/PushCube/images/episode_201/frame_0054.jpg", + "maniskill/PushCube/images/episode_201/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.601]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.387, 0.744]). The trajectory involves 27 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_201", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_201.json" + } + }, + { + "id": "maniskill_PushCube_out_826", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_826/frame_0046.jpg", + "maniskill/PushCube/images/episode_826/frame_0057.jpg", + "maniskill/PushCube/images/episode_826/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.621]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.375, 0.764]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_826", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 11, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_826.json" + } + }, + { + "id": "maniskill_PushCube_out_877", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_877/frame_0043.jpg", + "maniskill/PushCube/images/episode_877/frame_0053.jpg", + "maniskill/PushCube/images/episode_877/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.349, 0.614]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.345, 0.761]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_877", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_877.json" + } + }, + { + "id": "maniskill_PushCube_out_817", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_817/frame_0042.jpg", + "maniskill/PushCube/images/episode_817/frame_0049.jpg", + "maniskill/PushCube/images/episode_817/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.589]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.734]). The trajectory involves 23 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_817", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_817.json" + } + }, + { + "id": "maniskill_PushCube_out_879", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_879/frame_0044.jpg", + "maniskill/PushCube/images/episode_879/frame_0051.jpg", + "maniskill/PushCube/images/episode_879/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.608]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.407, 0.750]). The trajectory involves 28 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_879", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 7, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_879.json" + } + }, + { + "id": "maniskill_PushCube_out_191", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_191/frame_0048.jpg", + "maniskill/PushCube/images/episode_191/frame_0055.jpg", + "maniskill/PushCube/images/episode_191/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.478, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.490, 0.561]). The trajectory involves 22 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_191", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_191.json" + } + }, + { + "id": "maniskill_PushCube_out_659", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_659/frame_0044.jpg", + "maniskill/PushCube/images/episode_659/frame_0050.jpg", + "maniskill/PushCube/images/episode_659/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.534]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.308, 0.660]). The trajectory involves 22 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_659", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_659.json" + } + }, + { + "id": "maniskill_PushCube_out_93", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_93/frame_0044.jpg", + "maniskill/PushCube/images/episode_93/frame_0054.jpg", + "maniskill/PushCube/images/episode_93/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.431, 0.634]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.434, 0.781]). The trajectory involves 31 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_93", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 10, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_93.json" + } + }, + { + "id": "maniskill_PushCube_out_220", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_220/frame_0047.jpg", + "maniskill/PushCube/images/episode_220/frame_0053.jpg", + "maniskill/PushCube/images/episode_220/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.468]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.399, 0.594]). The trajectory involves 18 precise waypoints with total movement distance of 0.126." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_220", + "trajectory_length": 18, + "key_frame_indices": [ + 0, + 6, + 17 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_220.json" + } + }, + { + "id": "maniskill_PushCube_out_270", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_270/frame_0050.jpg", + "maniskill/PushCube/images/episode_270/frame_0056.jpg", + "maniskill/PushCube/images/episode_270/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.379, 0.484]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.376, 0.614]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_270", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_270.json" + } + }, + { + "id": "maniskill_PushCube_out_479", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_479/frame_0029.jpg", + "maniskill/PushCube/images/episode_479/frame_0058.jpg", + "maniskill/PushCube/images/episode_479/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.442, 0.425]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.447, 0.553]). The trajectory involves 44 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_479", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 29, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_479.json" + } + }, + { + "id": "maniskill_PushCube_out_24", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_24/frame_0040.jpg", + "maniskill/PushCube/images/episode_24/frame_0047.jpg", + "maniskill/PushCube/images/episode_24/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.341, 0.583]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.336, 0.727]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_24", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_24.json" + } + }, + { + "id": "maniskill_PushCube_out_121", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_121/frame_0049.jpg", + "maniskill/PushCube/images/episode_121/frame_0056.jpg", + "maniskill/PushCube/images/episode_121/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.423, 0.448]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.425, 0.566]). The trajectory involves 22 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_121", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_121.json" + } + }, + { + "id": "maniskill_PushCube_out_279", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_279/frame_0043.jpg", + "maniskill/PushCube/images/episode_279/frame_0053.jpg", + "maniskill/PushCube/images/episode_279/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.629]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.401, 0.776]). The trajectory involves 31 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_279", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 10, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_279.json" + } + }, + { + "id": "maniskill_PushCube_out_323", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_323/frame_0042.jpg", + "maniskill/PushCube/images/episode_323/frame_0050.jpg", + "maniskill/PushCube/images/episode_323/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.470, 0.619]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.476, 0.768]). The trajectory involves 27 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_323", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_323.json" + } + }, + { + "id": "maniskill_PushCube_out_31", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_31/frame_0044.jpg", + "maniskill/PushCube/images/episode_31/frame_0051.jpg", + "maniskill/PushCube/images/episode_31/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.356, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.353, 0.755]). The trajectory involves 26 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_31", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_31.json" + } + }, + { + "id": "maniskill_PushCube_out_672", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_672/frame_0043.jpg", + "maniskill/PushCube/images/episode_672/frame_0051.jpg", + "maniskill/PushCube/images/episode_672/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.359, 0.600]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.354, 0.748]). The trajectory involves 26 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_672", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_672.json" + } + }, + { + "id": "maniskill_PushCube_out_113", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_113/frame_0048.jpg", + "maniskill/PushCube/images/episode_113/frame_0055.jpg", + "maniskill/PushCube/images/episode_113/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.432, 0.426]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.434, 0.546]). The trajectory involves 17 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_113", + "trajectory_length": 17, + "key_frame_indices": [ + 0, + 7, + 16 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_113.json" + } + }, + { + "id": "maniskill_PushCube_out_592", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_592/frame_0044.jpg", + "maniskill/PushCube/images/episode_592/frame_0051.jpg", + "maniskill/PushCube/images/episode_592/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.404, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.403, 0.665]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_592", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_592.json" + } + }, + { + "id": "maniskill_PushCube_out_60", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_60/frame_0046.jpg", + "maniskill/PushCube/images/episode_60/frame_0052.jpg", + "maniskill/PushCube/images/episode_60/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.462, 0.556]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.464, 0.687]). The trajectory involves 22 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_60", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_60.json" + } + }, + { + "id": "maniskill_PushCube_out_734", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_734/frame_0047.jpg", + "maniskill/PushCube/images/episode_734/frame_0054.jpg", + "maniskill/PushCube/images/episode_734/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.415, 0.520]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.414, 0.652]). The trajectory involves 19 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_734", + "trajectory_length": 19, + "key_frame_indices": [ + 0, + 7, + 18 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_734.json" + } + }, + { + "id": "maniskill_PushCube_out_706", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_706/frame_0045.jpg", + "maniskill/PushCube/images/episode_706/frame_0054.jpg", + "maniskill/PushCube/images/episode_706/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.417, 0.611]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.423, 0.754]). The trajectory involves 26 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_706", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 9, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_706.json" + } + }, + { + "id": "maniskill_PushCube_out_228", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_228/frame_0042.jpg", + "maniskill/PushCube/images/episode_228/frame_0049.jpg", + "maniskill/PushCube/images/episode_228/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.462, 0.579]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.466, 0.723]). The trajectory involves 23 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_228", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_228.json" + } + }, + { + "id": "maniskill_PushCube_out_653", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_653/frame_0041.jpg", + "maniskill/PushCube/images/episode_653/frame_0048.jpg", + "maniskill/PushCube/images/episode_653/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.537]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.314, 0.675]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_653", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_653.json" + } + }, + { + "id": "maniskill_PushCube_out_20", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_20/frame_0046.jpg", + "maniskill/PushCube/images/episode_20/frame_0053.jpg", + "maniskill/PushCube/images/episode_20/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.421, 0.518]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.421, 0.656]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_20", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_20.json" + } + }, + { + "id": "maniskill_PushCube_out_154", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_154/frame_0039.jpg", + "maniskill/PushCube/images/episode_154/frame_0047.jpg", + "maniskill/PushCube/images/episode_154/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.454, 0.557]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.457, 0.698]). The trajectory involves 23 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_154", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 8, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_154.json" + } + }, + { + "id": "maniskill_PushCube_out_342", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_342/frame_0042.jpg", + "maniskill/PushCube/images/episode_342/frame_0049.jpg", + "maniskill/PushCube/images/episode_342/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.594]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.443, 0.740]). The trajectory involves 23 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_342", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_342.json" + } + }, + { + "id": "maniskill_PushCube_out_896", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_896/frame_0040.jpg", + "maniskill/PushCube/images/episode_896/frame_0047.jpg", + "maniskill/PushCube/images/episode_896/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.410, 0.540]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.411, 0.679]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_896", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_896.json" + } + }, + { + "id": "maniskill_PushCube_out_584", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_584/frame_0050.jpg", + "maniskill/PushCube/images/episode_584/frame_0056.jpg", + "maniskill/PushCube/images/episode_584/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.341, 0.463]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.332, 0.591]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_584", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_584.json" + } + }, + { + "id": "maniskill_PushCube_out_261", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_261/frame_0042.jpg", + "maniskill/PushCube/images/episode_261/frame_0049.jpg", + "maniskill/PushCube/images/episode_261/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.379, 0.550]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.375, 0.689]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_261", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_261.json" + } + }, + { + "id": "maniskill_PushCube_out_368", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_368/frame_0029.jpg", + "maniskill/PushCube/images/episode_368/frame_0057.jpg", + "maniskill/PushCube/images/episode_368/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.392, 0.420]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.391, 0.548]). The trajectory involves 44 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_368", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 28, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_368.json" + } + }, + { + "id": "maniskill_PushCube_out_990", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_990/frame_0044.jpg", + "maniskill/PushCube/images/episode_990/frame_0054.jpg", + "maniskill/PushCube/images/episode_990/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.637]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.373, 0.784]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_990", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_990.json" + } + }, + { + "id": "maniskill_PushCube_out_205", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_205/frame_0045.jpg", + "maniskill/PushCube/images/episode_205/frame_0054.jpg", + "maniskill/PushCube/images/episode_205/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.404, 0.614]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.409, 0.757]). The trajectory involves 26 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_205", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 9, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_205.json" + } + }, + { + "id": "maniskill_PushCube_out_298", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_298/frame_0047.jpg", + "maniskill/PushCube/images/episode_298/frame_0056.jpg", + "maniskill/PushCube/images/episode_298/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.616]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.328, 0.763]). The trajectory involves 30 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_298", + "trajectory_length": 30, + "key_frame_indices": [ + 0, + 9, + 29 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_298.json" + } + }, + { + "id": "maniskill_PushCube_out_844", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_844/frame_0029.jpg", + "maniskill/PushCube/images/episode_844/frame_0053.jpg", + "maniskill/PushCube/images/episode_844/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.422, 0.420]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.422, 0.549]). The trajectory involves 39 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_844", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 24, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_844.json" + } + }, + { + "id": "maniskill_PushCube_out_478", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_478/frame_0050.jpg", + "maniskill/PushCube/images/episode_478/frame_0057.jpg", + "maniskill/PushCube/images/episode_478/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.319, 0.494]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.310, 0.632]). The trajectory involves 25 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_478", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_478.json" + } + }, + { + "id": "maniskill_PushCube_out_287", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_287/frame_0049.jpg", + "maniskill/PushCube/images/episode_287/frame_0056.jpg", + "maniskill/PushCube/images/episode_287/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.452]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.334, 0.567]). The trajectory involves 23 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_287", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_287.json" + } + }, + { + "id": "maniskill_PushCube_out_954", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_954/frame_0041.jpg", + "maniskill/PushCube/images/episode_954/frame_0048.jpg", + "maniskill/PushCube/images/episode_954/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.580]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.368, 0.723]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_954", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_954.json" + } + }, + { + "id": "maniskill_PushCube_out_425", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_425/frame_0048.jpg", + "maniskill/PushCube/images/episode_425/frame_0055.jpg", + "maniskill/PushCube/images/episode_425/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.412, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.414, 0.654]). The trajectory involves 25 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_425", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_425.json" + } + }, + { + "id": "maniskill_PushCube_out_448", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_448/frame_0042.jpg", + "maniskill/PushCube/images/episode_448/frame_0049.jpg", + "maniskill/PushCube/images/episode_448/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.346, 0.539]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.340, 0.677]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_448", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_448.json" + } + }, + { + "id": "maniskill_PushCube_out_418", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_418/frame_0049.jpg", + "maniskill/PushCube/images/episode_418/frame_0055.jpg", + "maniskill/PushCube/images/episode_418/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.462, 0.467]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.467, 0.596]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_418", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_418.json" + } + }, + { + "id": "maniskill_PushCube_out_707", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_707/frame_0041.jpg", + "maniskill/PushCube/images/episode_707/frame_0049.jpg", + "maniskill/PushCube/images/episode_707/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.567]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.709]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_707", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_707.json" + } + }, + { + "id": "maniskill_PushCube_out_726", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_726/frame_0055.jpg", + "maniskill/PushCube/images/episode_726/frame_0061.jpg", + "maniskill/PushCube/images/episode_726/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.451, 0.437]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.456, 0.552]). The trajectory involves 22 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_726", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_726.json" + } + }, + { + "id": "maniskill_PushCube_out_530", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_530/frame_0050.jpg", + "maniskill/PushCube/images/episode_530/frame_0056.jpg", + "maniskill/PushCube/images/episode_530/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.479]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.385, 0.595]). The trajectory involves 20 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_530", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_530.json" + } + }, + { + "id": "maniskill_PushCube_out_755", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_755/frame_0047.jpg", + "maniskill/PushCube/images/episode_755/frame_0054.jpg", + "maniskill/PushCube/images/episode_755/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.457]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.341, 0.585]). The trajectory involves 21 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_755", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_755.json" + } + }, + { + "id": "maniskill_PushCube_out_488", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_488/frame_0048.jpg", + "maniskill/PushCube/images/episode_488/frame_0055.jpg", + "maniskill/PushCube/images/episode_488/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.453]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.582]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_488", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_488.json" + } + }, + { + "id": "maniskill_PushCube_out_627", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_627/frame_0045.jpg", + "maniskill/PushCube/images/episode_627/frame_0054.jpg", + "maniskill/PushCube/images/episode_627/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.628]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.315, 0.771]). The trajectory involves 27 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_627", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_627.json" + } + }, + { + "id": "maniskill_PushCube_out_612", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_612/frame_0046.jpg", + "maniskill/PushCube/images/episode_612/frame_0053.jpg", + "maniskill/PushCube/images/episode_612/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.449, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.578]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_612", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_612.json" + } + }, + { + "id": "maniskill_PushCube_out_112", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_112/frame_0044.jpg", + "maniskill/PushCube/images/episode_112/frame_0050.jpg", + "maniskill/PushCube/images/episode_112/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.425, 0.458]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.426, 0.587]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_112", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_112.json" + } + }, + { + "id": "maniskill_PushCube_out_853", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_853/frame_0043.jpg", + "maniskill/PushCube/images/episode_853/frame_0048.jpg", + "maniskill/PushCube/images/episode_853/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.322, 0.608]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.305, 0.751]). The trajectory involves 26 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_853", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 5, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_853.json" + } + }, + { + "id": "maniskill_PushCube_out_795", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_795/frame_0044.jpg", + "maniskill/PushCube/images/episode_795/frame_0050.jpg", + "maniskill/PushCube/images/episode_795/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.456]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.584]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_795", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_795.json" + } + }, + { + "id": "maniskill_PushCube_out_482", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_482/frame_0043.jpg", + "maniskill/PushCube/images/episode_482/frame_0050.jpg", + "maniskill/PushCube/images/episode_482/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.453, 0.551]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.690]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_482", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_482.json" + } + }, + { + "id": "maniskill_PushCube_out_74", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_74/frame_0043.jpg", + "maniskill/PushCube/images/episode_74/frame_0050.jpg", + "maniskill/PushCube/images/episode_74/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.420, 0.540]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.420, 0.679]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_74", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_74.json" + } + }, + { + "id": "maniskill_PushCube_out_624", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_624/frame_0048.jpg", + "maniskill/PushCube/images/episode_624/frame_0054.jpg", + "maniskill/PushCube/images/episode_624/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.417, 0.490]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.622]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_624", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_624.json" + } + }, + { + "id": "maniskill_PushCube_out_343", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_343/frame_0042.jpg", + "maniskill/PushCube/images/episode_343/frame_0049.jpg", + "maniskill/PushCube/images/episode_343/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.553]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.693]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_343", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_343.json" + } + }, + { + "id": "maniskill_PushCube_out_639", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_639/frame_0046.jpg", + "maniskill/PushCube/images/episode_639/frame_0053.jpg", + "maniskill/PushCube/images/episode_639/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.481, 0.589]). The trajectory involves 20 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_639", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_639.json" + } + }, + { + "id": "maniskill_PushCube_out_430", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_430/frame_0030.jpg", + "maniskill/PushCube/images/episode_430/frame_0054.jpg", + "maniskill/PushCube/images/episode_430/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.465, 0.418]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.472, 0.547]). The trajectory involves 39 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_430", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 24, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_430.json" + } + }, + { + "id": "maniskill_PushCube_out_73", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_73/frame_0042.jpg", + "maniskill/PushCube/images/episode_73/frame_0049.jpg", + "maniskill/PushCube/images/episode_73/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.368, 0.558]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.361, 0.699]). The trajectory involves 22 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_73", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_73.json" + } + }, + { + "id": "maniskill_PushCube_out_993", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_993/frame_0049.jpg", + "maniskill/PushCube/images/episode_993/frame_0055.jpg", + "maniskill/PushCube/images/episode_993/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.491]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.304, 0.613]). The trajectory involves 20 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_993", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_993.json" + } + }, + { + "id": "maniskill_PushCube_out_480", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_480/frame_0048.jpg", + "maniskill/PushCube/images/episode_480/frame_0055.jpg", + "maniskill/PushCube/images/episode_480/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.402, 0.430]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.402, 0.552]). The trajectory involves 23 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_480", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_480.json" + } + }, + { + "id": "maniskill_PushCube_out_141", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_141/frame_0043.jpg", + "maniskill/PushCube/images/episode_141/frame_0050.jpg", + "maniskill/PushCube/images/episode_141/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.381, 0.618]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.376, 0.767]). The trajectory involves 25 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_141", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_141.json" + } + }, + { + "id": "maniskill_PushCube_out_386", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_386/frame_0054.jpg", + "maniskill/PushCube/images/episode_386/frame_0059.jpg", + "maniskill/PushCube/images/episode_386/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.342, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.335, 0.542]). The trajectory involves 22 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_386", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 5, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_386.json" + } + }, + { + "id": "maniskill_PushCube_out_855", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_855/frame_0050.jpg", + "maniskill/PushCube/images/episode_855/frame_0059.jpg", + "maniskill/PushCube/images/episode_855/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.638]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.368, 0.783]). The trajectory involves 27 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_855", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_855.json" + } + }, + { + "id": "maniskill_PushCube_out_716", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_716/frame_0048.jpg", + "maniskill/PushCube/images/episode_716/frame_0055.jpg", + "maniskill/PushCube/images/episode_716/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.392, 0.509]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.391, 0.649]). The trajectory involves 26 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_716", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_716.json" + } + }, + { + "id": "maniskill_PushCube_out_865", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_865/frame_0044.jpg", + "maniskill/PushCube/images/episode_865/frame_0051.jpg", + "maniskill/PushCube/images/episode_865/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.356, 0.576]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.346, 0.714]). The trajectory involves 25 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_865", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_865.json" + } + }, + { + "id": "maniskill_PushCube_out_400", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_400/frame_0046.jpg", + "maniskill/PushCube/images/episode_400/frame_0052.jpg", + "maniskill/PushCube/images/episode_400/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.397, 0.433]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.397, 0.562]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_400", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_400.json" + } + }, + { + "id": "maniskill_PushCube_out_955", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_955/frame_0030.jpg", + "maniskill/PushCube/images/episode_955/frame_0057.jpg", + "maniskill/PushCube/images/episode_955/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.422]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.373, 0.551]). The trajectory involves 43 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_955", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 27, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_955.json" + } + }, + { + "id": "maniskill_PushCube_out_214", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_214/frame_0043.jpg", + "maniskill/PushCube/images/episode_214/frame_0049.jpg", + "maniskill/PushCube/images/episode_214/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.433, 0.540]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.435, 0.678]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_214", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_214.json" + } + }, + { + "id": "maniskill_PushCube_out_729", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_729/frame_0040.jpg", + "maniskill/PushCube/images/episode_729/frame_0047.jpg", + "maniskill/PushCube/images/episode_729/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.428, 0.595]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.428, 0.743]). The trajectory involves 25 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_729", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_729.json" + } + }, + { + "id": "maniskill_PushCube_out_790", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_790/frame_0043.jpg", + "maniskill/PushCube/images/episode_790/frame_0051.jpg", + "maniskill/PushCube/images/episode_790/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.547]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.462, 0.676]). The trajectory involves 22 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_790", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 8, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_790.json" + } + }, + { + "id": "maniskill_PushCube_out_461", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_461/frame_0028.jpg", + "maniskill/PushCube/images/episode_461/frame_0053.jpg", + "maniskill/PushCube/images/episode_461/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.362, 0.437]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.357, 0.566]). The trajectory involves 40 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_461", + "trajectory_length": 40, + "key_frame_indices": [ + 0, + 25, + 39 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_461.json" + } + }, + { + "id": "maniskill_PushCube_out_241", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_241/frame_0045.jpg", + "maniskill/PushCube/images/episode_241/frame_0051.jpg", + "maniskill/PushCube/images/episode_241/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.478, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.486, 0.577]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_241", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_241.json" + } + }, + { + "id": "maniskill_PushCube_out_170", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_170/frame_0045.jpg", + "maniskill/PushCube/images/episode_170/frame_0052.jpg", + "maniskill/PushCube/images/episode_170/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.432, 0.587]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.725]). The trajectory involves 24 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_170", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_170.json" + } + }, + { + "id": "maniskill_PushCube_out_338", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_338/frame_0049.jpg", + "maniskill/PushCube/images/episode_338/frame_0058.jpg", + "maniskill/PushCube/images/episode_338/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.307, 0.634]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.300, 0.778]). The trajectory involves 29 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_338", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_338.json" + } + }, + { + "id": "maniskill_PushCube_out_620", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_620/frame_0044.jpg", + "maniskill/PushCube/images/episode_620/frame_0054.jpg", + "maniskill/PushCube/images/episode_620/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.429, 0.641]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.435, 0.787]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_620", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_620.json" + } + }, + { + "id": "maniskill_PushCube_out_561", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_561/frame_0044.jpg", + "maniskill/PushCube/images/episode_561/frame_0054.jpg", + "maniskill/PushCube/images/episode_561/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.639]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.376, 0.786]). The trajectory involves 31 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_561", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 10, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_561.json" + } + }, + { + "id": "maniskill_PushCube_out_97", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_97/frame_0046.jpg", + "maniskill/PushCube/images/episode_97/frame_0053.jpg", + "maniskill/PushCube/images/episode_97/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.456, 0.440]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.461, 0.568]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_97", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_97.json" + } + }, + { + "id": "maniskill_PushCube_out_172", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_172/frame_0042.jpg", + "maniskill/PushCube/images/episode_172/frame_0049.jpg", + "maniskill/PushCube/images/episode_172/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.357, 0.525]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.350, 0.662]). The trajectory involves 22 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_172", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_172.json" + } + }, + { + "id": "maniskill_PushCube_out_375", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_375/frame_0030.jpg", + "maniskill/PushCube/images/episode_375/frame_0055.jpg", + "maniskill/PushCube/images/episode_375/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.421]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.346, 0.543]). The trajectory involves 37 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_375", + "trajectory_length": 37, + "key_frame_indices": [ + 0, + 25, + 36 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_375.json" + } + }, + { + "id": "maniskill_PushCube_out_909", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_909/frame_0049.jpg", + "maniskill/PushCube/images/episode_909/frame_0056.jpg", + "maniskill/PushCube/images/episode_909/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.351, 0.425]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.346, 0.553]). The trajectory involves 23 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_909", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_909.json" + } + }, + { + "id": "maniskill_PushCube_out_747", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_747/frame_0047.jpg", + "maniskill/PushCube/images/episode_747/frame_0053.jpg", + "maniskill/PushCube/images/episode_747/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.480, 0.507]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.493, 0.626]). The trajectory involves 20 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_747", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_747.json" + } + }, + { + "id": "maniskill_PushCube_out_983", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_983/frame_0050.jpg", + "maniskill/PushCube/images/episode_983/frame_0057.jpg", + "maniskill/PushCube/images/episode_983/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.432]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.358, 0.560]). The trajectory involves 22 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_983", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_983.json" + } + }, + { + "id": "maniskill_PushCube_out_42", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_42/frame_0039.jpg", + "maniskill/PushCube/images/episode_42/frame_0047.jpg", + "maniskill/PushCube/images/episode_42/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.444, 0.575]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.725]). The trajectory involves 27 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_42", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_42.json" + } + }, + { + "id": "maniskill_PushCube_out_856", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_856/frame_0043.jpg", + "maniskill/PushCube/images/episode_856/frame_0050.jpg", + "maniskill/PushCube/images/episode_856/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.368, 0.665]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_856", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_856.json" + } + }, + { + "id": "maniskill_PushCube_out_345", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_345/frame_0041.jpg", + "maniskill/PushCube/images/episode_345/frame_0048.jpg", + "maniskill/PushCube/images/episode_345/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.327, 0.517]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.655]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_345", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_345.json" + } + }, + { + "id": "maniskill_PushCube_out_959", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_959/frame_0044.jpg", + "maniskill/PushCube/images/episode_959/frame_0050.jpg", + "maniskill/PushCube/images/episode_959/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.352, 0.477]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.343, 0.607]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_959", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_959.json" + } + }, + { + "id": "maniskill_PushCube_out_226", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_226/frame_0040.jpg", + "maniskill/PushCube/images/episode_226/frame_0047.jpg", + "maniskill/PushCube/images/episode_226/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.409, 0.532]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.408, 0.670]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_226", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_226.json" + } + }, + { + "id": "maniskill_PushCube_out_293", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_293/frame_0047.jpg", + "maniskill/PushCube/images/episode_293/frame_0053.jpg", + "maniskill/PushCube/images/episode_293/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.314, 0.437]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.303, 0.564]). The trajectory involves 21 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_293", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_293.json" + } + }, + { + "id": "maniskill_PushCube_out_863", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_863/frame_0042.jpg", + "maniskill/PushCube/images/episode_863/frame_0052.jpg", + "maniskill/PushCube/images/episode_863/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.420, 0.615]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.423, 0.759]). The trajectory involves 28 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_863", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 10, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_863.json" + } + }, + { + "id": "maniskill_PushCube_out_46", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_46/frame_0045.jpg", + "maniskill/PushCube/images/episode_46/frame_0051.jpg", + "maniskill/PushCube/images/episode_46/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.341, 0.519]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.328, 0.650]). The trajectory involves 26 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_46", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 6, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_46.json" + } + }, + { + "id": "maniskill_PushCube_out_999", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_999/frame_0042.jpg", + "maniskill/PushCube/images/episode_999/frame_0049.jpg", + "maniskill/PushCube/images/episode_999/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.461, 0.547]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.466, 0.686]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_999", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_999.json" + } + }, + { + "id": "maniskill_PushCube_out_10", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_10/frame_0043.jpg", + "maniskill/PushCube/images/episode_10/frame_0049.jpg", + "maniskill/PushCube/images/episode_10/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.448]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.395, 0.578]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_10", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_10.json" + } + }, + { + "id": "maniskill_PushCube_out_352", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_352/frame_0028.jpg", + "maniskill/PushCube/images/episode_352/frame_0053.jpg", + "maniskill/PushCube/images/episode_352/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.419]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.351, 0.543]). The trajectory involves 37 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_352", + "trajectory_length": 37, + "key_frame_indices": [ + 0, + 25, + 36 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_352.json" + } + }, + { + "id": "maniskill_PushCube_out_383", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_383/frame_0040.jpg", + "maniskill/PushCube/images/episode_383/frame_0047.jpg", + "maniskill/PushCube/images/episode_383/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.569]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.392, 0.713]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_383", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_383.json" + } + }, + { + "id": "maniskill_PushCube_out_447", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_447/frame_0045.jpg", + "maniskill/PushCube/images/episode_447/frame_0052.jpg", + "maniskill/PushCube/images/episode_447/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.306, 0.566]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.301, 0.705]). The trajectory involves 27 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_447", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_447.json" + } + }, + { + "id": "maniskill_PushCube_out_825", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_825/frame_0044.jpg", + "maniskill/PushCube/images/episode_825/frame_0050.jpg", + "maniskill/PushCube/images/episode_825/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.366, 0.475]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.360, 0.605]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_825", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_825.json" + } + }, + { + "id": "maniskill_PushCube_out_756", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_756/frame_0045.jpg", + "maniskill/PushCube/images/episode_756/frame_0055.jpg", + "maniskill/PushCube/images/episode_756/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.640]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.329, 0.787]). The trajectory involves 33 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_756", + "trajectory_length": 33, + "key_frame_indices": [ + 0, + 10, + 32 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_756.json" + } + }, + { + "id": "maniskill_PushCube_out_354", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_354/frame_0047.jpg", + "maniskill/PushCube/images/episode_354/frame_0054.jpg", + "maniskill/PushCube/images/episode_354/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.461]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.340, 0.575]). The trajectory involves 22 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_354", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_354.json" + } + }, + { + "id": "maniskill_PushCube_out_985", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_985/frame_0039.jpg", + "maniskill/PushCube/images/episode_985/frame_0047.jpg", + "maniskill/PushCube/images/episode_985/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.429, 0.565]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.431, 0.708]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_985", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_985.json" + } + }, + { + "id": "maniskill_PushCube_out_692", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_692/frame_0044.jpg", + "maniskill/PushCube/images/episode_692/frame_0051.jpg", + "maniskill/PushCube/images/episode_692/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.427, 0.597]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.735]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_692", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_692.json" + } + }, + { + "id": "maniskill_PushCube_out_493", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_493/frame_0044.jpg", + "maniskill/PushCube/images/episode_493/frame_0051.jpg", + "maniskill/PushCube/images/episode_493/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.565]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.470, 0.709]). The trajectory involves 23 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_493", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_493.json" + } + }, + { + "id": "maniskill_PushCube_out_477", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_477/frame_0052.jpg", + "maniskill/PushCube/images/episode_477/frame_0057.jpg", + "maniskill/PushCube/images/episode_477/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.330, 0.440]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.318, 0.552]). The trajectory involves 22 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_477", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 5, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_477.json" + } + }, + { + "id": "maniskill_PushCube_out_285", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_285/frame_0026.jpg", + "maniskill/PushCube/images/episode_285/frame_0054.jpg", + "maniskill/PushCube/images/episode_285/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.447]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.313, 0.575]). The trajectory involves 42 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_285", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 28, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_285.json" + } + }, + { + "id": "maniskill_PushCube_out_926", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_926/frame_0046.jpg", + "maniskill/PushCube/images/episode_926/frame_0053.jpg", + "maniskill/PushCube/images/episode_926/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.525]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.665]). The trajectory involves 23 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_926", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_926.json" + } + }, + { + "id": "maniskill_PushCube_out_292", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_292/frame_0046.jpg", + "maniskill/PushCube/images/episode_292/frame_0055.jpg", + "maniskill/PushCube/images/episode_292/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.498, 0.644]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.512, 0.789]). The trajectory involves 28 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_292", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 9, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_292.json" + } + }, + { + "id": "maniskill_PushCube_out_573", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_573/frame_0044.jpg", + "maniskill/PushCube/images/episode_573/frame_0051.jpg", + "maniskill/PushCube/images/episode_573/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.318, 0.485]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.309, 0.616]). The trajectory involves 21 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_573", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_573.json" + } + }, + { + "id": "maniskill_PushCube_out_122", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_122/frame_0045.jpg", + "maniskill/PushCube/images/episode_122/frame_0052.jpg", + "maniskill/PushCube/images/episode_122/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.576]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.374, 0.713]). The trajectory involves 25 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_122", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_122.json" + } + }, + { + "id": "maniskill_PushCube_out_427", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_427/frame_0044.jpg", + "maniskill/PushCube/images/episode_427/frame_0051.jpg", + "maniskill/PushCube/images/episode_427/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.426, 0.568]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.705]). The trajectory involves 25 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_427", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_427.json" + } + }, + { + "id": "maniskill_PushCube_out_918", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_918/frame_0043.jpg", + "maniskill/PushCube/images/episode_918/frame_0051.jpg", + "maniskill/PushCube/images/episode_918/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.304, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.294, 0.755]). The trajectory involves 27 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_918", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_918.json" + } + }, + { + "id": "maniskill_PushCube_out_635", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_635/frame_0046.jpg", + "maniskill/PushCube/images/episode_635/frame_0052.jpg", + "maniskill/PushCube/images/episode_635/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.461]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.307, 0.588]). The trajectory involves 20 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_635", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_635.json" + } + }, + { + "id": "maniskill_PushCube_out_694", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_694/frame_0041.jpg", + "maniskill/PushCube/images/episode_694/frame_0048.jpg", + "maniskill/PushCube/images/episode_694/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.335, 0.538]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.327, 0.676]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_694", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_694.json" + } + }, + { + "id": "maniskill_PushCube_out_519", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_519/frame_0048.jpg", + "maniskill/PushCube/images/episode_519/frame_0054.jpg", + "maniskill/PushCube/images/episode_519/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.343, 0.463]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.335, 0.591]). The trajectory involves 19 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_519", + "trajectory_length": 19, + "key_frame_indices": [ + 0, + 6, + 18 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_519.json" + } + }, + { + "id": "maniskill_PushCube_out_429", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_429/frame_0044.jpg", + "maniskill/PushCube/images/episode_429/frame_0051.jpg", + "maniskill/PushCube/images/episode_429/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.464, 0.501]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.468, 0.639]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_429", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_429.json" + } + }, + { + "id": "maniskill_PushCube_out_81", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_81/frame_0043.jpg", + "maniskill/PushCube/images/episode_81/frame_0050.jpg", + "maniskill/PushCube/images/episode_81/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.459, 0.595]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.470, 0.732]). The trajectory involves 23 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_81", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_81.json" + } + }, + { + "id": "maniskill_PushCube_out_753", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_753/frame_0050.jpg", + "maniskill/PushCube/images/episode_753/frame_0058.jpg", + "maniskill/PushCube/images/episode_753/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.407, 0.623]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.412, 0.766]). The trajectory involves 26 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_753", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_753.json" + } + }, + { + "id": "maniskill_PushCube_out_350", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_350/frame_0048.jpg", + "maniskill/PushCube/images/episode_350/frame_0054.jpg", + "maniskill/PushCube/images/episode_350/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.319, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.307, 0.562]). The trajectory involves 22 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_350", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_350.json" + } + }, + { + "id": "maniskill_PushCube_out_593", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_593/frame_0042.jpg", + "maniskill/PushCube/images/episode_593/frame_0049.jpg", + "maniskill/PushCube/images/episode_593/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.433, 0.582]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.434, 0.726]). The trajectory involves 23 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_593", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_593.json" + } + }, + { + "id": "maniskill_PushCube_out_617", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_617/frame_0044.jpg", + "maniskill/PushCube/images/episode_617/frame_0050.jpg", + "maniskill/PushCube/images/episode_617/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.306, 0.645]). The trajectory involves 25 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_617", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 6, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_617.json" + } + }, + { + "id": "maniskill_PushCube_out_549", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_549/frame_0045.jpg", + "maniskill/PushCube/images/episode_549/frame_0052.jpg", + "maniskill/PushCube/images/episode_549/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.350, 0.518]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.345, 0.656]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_549", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_549.json" + } + }, + { + "id": "maniskill_PushCube_out_850", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_850/frame_0029.jpg", + "maniskill/PushCube/images/episode_850/frame_0059.jpg", + "maniskill/PushCube/images/episode_850/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.431]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.412, 0.560]). The trajectory involves 45 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_850", + "trajectory_length": 45, + "key_frame_indices": [ + 0, + 30, + 44 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_850.json" + } + }, + { + "id": "maniskill_PushCube_out_6", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_6/frame_0040.jpg", + "maniskill/PushCube/images/episode_6/frame_0047.jpg", + "maniskill/PushCube/images/episode_6/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.410, 0.540]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.411, 0.679]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_6", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_6.json" + } + }, + { + "id": "maniskill_PushCube_out_646", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_646/frame_0045.jpg", + "maniskill/PushCube/images/episode_646/frame_0051.jpg", + "maniskill/PushCube/images/episode_646/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.489]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.332, 0.620]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_646", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_646.json" + } + }, + { + "id": "maniskill_PushCube_out_34", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_34/frame_0044.jpg", + "maniskill/PushCube/images/episode_34/frame_0051.jpg", + "maniskill/PushCube/images/episode_34/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.471]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.325, 0.600]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_34", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_34.json" + } + }, + { + "id": "maniskill_PushCube_out_767", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_767/frame_0049.jpg", + "maniskill/PushCube/images/episode_767/frame_0054.jpg", + "maniskill/PushCube/images/episode_767/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.468, 0.454]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.481, 0.566]). The trajectory involves 21 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_767", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 5, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_767.json" + } + }, + { + "id": "maniskill_PushCube_out_906", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_906/frame_0042.jpg", + "maniskill/PushCube/images/episode_906/frame_0049.jpg", + "maniskill/PushCube/images/episode_906/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.366, 0.563]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.362, 0.704]). The trajectory involves 22 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_906", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_906.json" + } + }, + { + "id": "maniskill_PushCube_out_12", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_12/frame_0029.jpg", + "maniskill/PushCube/images/episode_12/frame_0057.jpg", + "maniskill/PushCube/images/episode_12/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.396, 0.436]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.394, 0.564]). The trajectory involves 43 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_12", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 28, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_12.json" + } + }, + { + "id": "maniskill_PushCube_out_599", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_599/frame_0043.jpg", + "maniskill/PushCube/images/episode_599/frame_0050.jpg", + "maniskill/PushCube/images/episode_599/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.468, 0.570]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.476, 0.705]). The trajectory involves 24 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_599", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_599.json" + } + }, + { + "id": "maniskill_PushCube_out_754", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_754/frame_0045.jpg", + "maniskill/PushCube/images/episode_754/frame_0054.jpg", + "maniskill/PushCube/images/episode_754/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.473, 0.596]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.483, 0.736]). The trajectory involves 26 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_754", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 9, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_754.json" + } + }, + { + "id": "maniskill_PushCube_out_948", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_948/frame_0045.jpg", + "maniskill/PushCube/images/episode_948/frame_0051.jpg", + "maniskill/PushCube/images/episode_948/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.430, 0.491]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.431, 0.623]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_948", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_948.json" + } + }, + { + "id": "maniskill_PushCube_out_409", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_409/frame_0048.jpg", + "maniskill/PushCube/images/episode_409/frame_0055.jpg", + "maniskill/PushCube/images/episode_409/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.398, 0.550]). The trajectory involves 22 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_409", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_409.json" + } + }, + { + "id": "maniskill_PushCube_out_605", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_605/frame_0043.jpg", + "maniskill/PushCube/images/episode_605/frame_0050.jpg", + "maniskill/PushCube/images/episode_605/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.507]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.385, 0.646]). The trajectory involves 25 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_605", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_605.json" + } + }, + { + "id": "maniskill_PushCube_out_533", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_533/frame_0047.jpg", + "maniskill/PushCube/images/episode_533/frame_0053.jpg", + "maniskill/PushCube/images/episode_533/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.488, 0.587]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.489, 0.729]). The trajectory involves 28 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_533", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 6, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_533.json" + } + }, + { + "id": "maniskill_PushCube_out_239", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_239/frame_0051.jpg", + "maniskill/PushCube/images/episode_239/frame_0057.jpg", + "maniskill/PushCube/images/episode_239/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.440, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.443, 0.577]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_239", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_239.json" + } + }, + { + "id": "maniskill_PushCube_out_58", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_58/frame_0048.jpg", + "maniskill/PushCube/images/episode_58/frame_0055.jpg", + "maniskill/PushCube/images/episode_58/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.367, 0.422]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.362, 0.551]). The trajectory involves 25 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_58", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_58.json" + } + }, + { + "id": "maniskill_PushCube_out_470", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_470/frame_0046.jpg", + "maniskill/PushCube/images/episode_470/frame_0055.jpg", + "maniskill/PushCube/images/episode_470/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.480, 0.628]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.489, 0.774]). The trajectory involves 31 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_470", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 9, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_470.json" + } + }, + { + "id": "maniskill_PushCube_out_2", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_2/frame_0042.jpg", + "maniskill/PushCube/images/episode_2/frame_0049.jpg", + "maniskill/PushCube/images/episode_2/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.550]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.372, 0.690]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_2", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_2.json" + } + }, + { + "id": "maniskill_PushCube_out_365", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_365/frame_0043.jpg", + "maniskill/PushCube/images/episode_365/frame_0050.jpg", + "maniskill/PushCube/images/episode_365/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.461, 0.605]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.466, 0.751]). The trajectory involves 25 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_365", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_365.json" + } + }, + { + "id": "maniskill_PushCube_out_656", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_656/frame_0042.jpg", + "maniskill/PushCube/images/episode_656/frame_0049.jpg", + "maniskill/PushCube/images/episode_656/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.414, 0.540]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.414, 0.670]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_656", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_656.json" + } + }, + { + "id": "maniskill_PushCube_out_361", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_361/frame_0045.jpg", + "maniskill/PushCube/images/episode_361/frame_0051.jpg", + "maniskill/PushCube/images/episode_361/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.459, 0.475]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.463, 0.606]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_361", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_361.json" + } + }, + { + "id": "maniskill_PushCube_out_769", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_769/frame_0050.jpg", + "maniskill/PushCube/images/episode_769/frame_0056.jpg", + "maniskill/PushCube/images/episode_769/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.407, 0.433]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.403, 0.562]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_769", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_769.json" + } + }, + { + "id": "maniskill_PushCube_out_399", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_399/frame_0045.jpg", + "maniskill/PushCube/images/episode_399/frame_0051.jpg", + "maniskill/PushCube/images/episode_399/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.370, 0.495]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.366, 0.628]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_399", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_399.json" + } + }, + { + "id": "maniskill_PushCube_out_512", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_512/frame_0044.jpg", + "maniskill/PushCube/images/episode_512/frame_0052.jpg", + "maniskill/PushCube/images/episode_512/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.433, 0.559]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.434, 0.701]). The trajectory involves 23 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_512", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 8, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_512.json" + } + }, + { + "id": "maniskill_PushCube_out_462", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_462/frame_0043.jpg", + "maniskill/PushCube/images/episode_462/frame_0050.jpg", + "maniskill/PushCube/images/episode_462/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.303, 0.647]). The trajectory involves 23 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_462", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_462.json" + } + }, + { + "id": "maniskill_PushCube_out_95", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_95/frame_0041.jpg", + "maniskill/PushCube/images/episode_95/frame_0048.jpg", + "maniskill/PushCube/images/episode_95/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.515]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.318, 0.653]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_95", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_95.json" + } + }, + { + "id": "maniskill_PushCube_out_553", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_553/frame_0045.jpg", + "maniskill/PushCube/images/episode_553/frame_0052.jpg", + "maniskill/PushCube/images/episode_553/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.415, 0.499]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.416, 0.631]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_553", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_553.json" + } + }, + { + "id": "maniskill_PushCube_out_327", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_327/frame_0046.jpg", + "maniskill/PushCube/images/episode_327/frame_0052.jpg", + "maniskill/PushCube/images/episode_327/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.462, 0.434]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.468, 0.562]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_327", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_327.json" + } + }, + { + "id": "maniskill_PushCube_out_109", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_109/frame_0050.jpg", + "maniskill/PushCube/images/episode_109/frame_0057.jpg", + "maniskill/PushCube/images/episode_109/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.420]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.328, 0.532]). The trajectory involves 25 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_109", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_109.json" + } + }, + { + "id": "maniskill_PushCube_out_652", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_652/frame_0041.jpg", + "maniskill/PushCube/images/episode_652/frame_0049.jpg", + "maniskill/PushCube/images/episode_652/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.396, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.392, 0.653]). The trajectory involves 24 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_652", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_652.json" + } + }, + { + "id": "maniskill_PushCube_out_116", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_116/frame_0027.jpg", + "maniskill/PushCube/images/episode_116/frame_0051.jpg", + "maniskill/PushCube/images/episode_116/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.484, 0.427]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.494, 0.556]). The trajectory involves 40 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_116", + "trajectory_length": 40, + "key_frame_indices": [ + 0, + 24, + 39 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_116.json" + } + }, + { + "id": "maniskill_PushCube_out_988", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_988/frame_0050.jpg", + "maniskill/PushCube/images/episode_988/frame_0057.jpg", + "maniskill/PushCube/images/episode_988/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.480, 0.421]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.486, 0.549]). The trajectory involves 21 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_988", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_988.json" + } + }, + { + "id": "maniskill_PushCube_out_911", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_911/frame_0048.jpg", + "maniskill/PushCube/images/episode_911/frame_0056.jpg", + "maniskill/PushCube/images/episode_911/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.484, 0.617]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.486, 0.760]). The trajectory involves 26 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_911", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_911.json" + } + }, + { + "id": "maniskill_PushCube_out_320", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_320/frame_0049.jpg", + "maniskill/PushCube/images/episode_320/frame_0059.jpg", + "maniskill/PushCube/images/episode_320/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.353, 0.644]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.346, 0.789]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_320", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_320.json" + } + }, + { + "id": "maniskill_PushCube_out_218", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_218/frame_0042.jpg", + "maniskill/PushCube/images/episode_218/frame_0049.jpg", + "maniskill/PushCube/images/episode_218/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.562]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.375, 0.702]). The trajectory involves 22 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_218", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_218.json" + } + }, + { + "id": "maniskill_PushCube_out_188", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_188/frame_0045.jpg", + "maniskill/PushCube/images/episode_188/frame_0055.jpg", + "maniskill/PushCube/images/episode_188/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.421, 0.611]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.425, 0.758]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_188", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_188.json" + } + }, + { + "id": "maniskill_PushCube_out_173", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_173/frame_0040.jpg", + "maniskill/PushCube/images/episode_173/frame_0048.jpg", + "maniskill/PushCube/images/episode_173/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.576]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.398, 0.720]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_173", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_173.json" + } + }, + { + "id": "maniskill_PushCube_out_187", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_187/frame_0045.jpg", + "maniskill/PushCube/images/episode_187/frame_0052.jpg", + "maniskill/PushCube/images/episode_187/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.434, 0.559]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.438, 0.698]). The trajectory involves 28 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_187", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 7, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_187.json" + } + }, + { + "id": "maniskill_PushCube_out_144", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_144/frame_0048.jpg", + "maniskill/PushCube/images/episode_144/frame_0057.jpg", + "maniskill/PushCube/images/episode_144/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.344, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.342, 0.755]). The trajectory involves 26 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_144", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 9, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_144.json" + } + }, + { + "id": "maniskill_PushCube_out_891", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_891/frame_0042.jpg", + "maniskill/PushCube/images/episode_891/frame_0049.jpg", + "maniskill/PushCube/images/episode_891/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.455, 0.538]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.457, 0.677]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_891", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_891.json" + } + }, + { + "id": "maniskill_PushCube_out_977", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_977/frame_0048.jpg", + "maniskill/PushCube/images/episode_977/frame_0055.jpg", + "maniskill/PushCube/images/episode_977/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.477, 0.445]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.486, 0.558]). The trajectory involves 23 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_977", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_977.json" + } + }, + { + "id": "maniskill_PushCube_out_890", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_890/frame_0048.jpg", + "maniskill/PushCube/images/episode_890/frame_0057.jpg", + "maniskill/PushCube/images/episode_890/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.468, 0.644]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.476, 0.790]). The trajectory involves 31 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_890", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 9, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_890.json" + } + }, + { + "id": "maniskill_PushCube_out_421", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_421/frame_0048.jpg", + "maniskill/PushCube/images/episode_421/frame_0057.jpg", + "maniskill/PushCube/images/episode_421/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.456, 0.624]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.463, 0.769]). The trajectory involves 28 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_421", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 9, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_421.json" + } + }, + { + "id": "maniskill_PushCube_out_63", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_63/frame_0044.jpg", + "maniskill/PushCube/images/episode_63/frame_0052.jpg", + "maniskill/PushCube/images/episode_63/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.403, 0.638]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.404, 0.782]). The trajectory involves 27 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_63", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_63.json" + } + }, + { + "id": "maniskill_PushCube_out_979", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_979/frame_0044.jpg", + "maniskill/PushCube/images/episode_979/frame_0050.jpg", + "maniskill/PushCube/images/episode_979/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.482]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.302, 0.612]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_979", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_979.json" + } + }, + { + "id": "maniskill_PushCube_out_897", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_897/frame_0048.jpg", + "maniskill/PushCube/images/episode_897/frame_0055.jpg", + "maniskill/PushCube/images/episode_897/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.454, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.458, 0.558]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_897", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_897.json" + } + }, + { + "id": "maniskill_PushCube_out_393", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_393/frame_0051.jpg", + "maniskill/PushCube/images/episode_393/frame_0058.jpg", + "maniskill/PushCube/images/episode_393/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.421]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.325, 0.549]). The trajectory involves 22 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_393", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_393.json" + } + }, + { + "id": "maniskill_PushCube_out_774", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_774/frame_0043.jpg", + "maniskill/PushCube/images/episode_774/frame_0050.jpg", + "maniskill/PushCube/images/episode_774/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.459, 0.573]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.459, 0.709]). The trajectory involves 24 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_774", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_774.json" + } + }, + { + "id": "maniskill_PushCube_out_851", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_851/frame_0028.jpg", + "maniskill/PushCube/images/episode_851/frame_0052.jpg", + "maniskill/PushCube/images/episode_851/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.404, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.403, 0.557]). The trajectory involves 39 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_851", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 24, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_851.json" + } + }, + { + "id": "maniskill_PushCube_out_554", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_554/frame_0029.jpg", + "maniskill/PushCube/images/episode_554/frame_0053.jpg", + "maniskill/PushCube/images/episode_554/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.427]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.397, 0.556]). The trajectory involves 39 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_554", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 24, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_554.json" + } + }, + { + "id": "maniskill_PushCube_out_378", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_378/frame_0046.jpg", + "maniskill/PushCube/images/episode_378/frame_0052.jpg", + "maniskill/PushCube/images/episode_378/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.470]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.329, 0.599]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_378", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_378.json" + } + }, + { + "id": "maniskill_PushCube_out_78", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_78/frame_0040.jpg", + "maniskill/PushCube/images/episode_78/frame_0047.jpg", + "maniskill/PushCube/images/episode_78/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.549]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.316, 0.688]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_78", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_78.json" + } + }, + { + "id": "maniskill_PushCube_out_80", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_80/frame_0045.jpg", + "maniskill/PushCube/images/episode_80/frame_0051.jpg", + "maniskill/PushCube/images/episode_80/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.406, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.407, 0.646]). The trajectory involves 26 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_80", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 6, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_80.json" + } + }, + { + "id": "maniskill_PushCube_out_126", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_126/frame_0030.jpg", + "maniskill/PushCube/images/episode_126/frame_0054.jpg", + "maniskill/PushCube/images/episode_126/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.429, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.433, 0.558]). The trajectory involves 41 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_126", + "trajectory_length": 41, + "key_frame_indices": [ + 0, + 24, + 40 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_126.json" + } + }, + { + "id": "maniskill_PushCube_out_552", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_552/frame_0044.jpg", + "maniskill/PushCube/images/episode_552/frame_0051.jpg", + "maniskill/PushCube/images/episode_552/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.418, 0.550]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.419, 0.690]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_552", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_552.json" + } + }, + { + "id": "maniskill_PushCube_out_466", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_466/frame_0039.jpg", + "maniskill/PushCube/images/episode_466/frame_0047.jpg", + "maniskill/PushCube/images/episode_466/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.383, 0.581]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.380, 0.724]). The trajectory involves 29 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_466", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 8, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_466.json" + } + }, + { + "id": "maniskill_PushCube_out_789", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_789/frame_0051.jpg", + "maniskill/PushCube/images/episode_789/frame_0058.jpg", + "maniskill/PushCube/images/episode_789/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.442]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.313, 0.570]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_789", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_789.json" + } + }, + { + "id": "maniskill_PushCube_out_779", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_779/frame_0044.jpg", + "maniskill/PushCube/images/episode_779/frame_0050.jpg", + "maniskill/PushCube/images/episode_779/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.434, 0.491]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.437, 0.623]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_779", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_779.json" + } + }, + { + "id": "maniskill_PushCube_out_209", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_209/frame_0043.jpg", + "maniskill/PushCube/images/episode_209/frame_0051.jpg", + "maniskill/PushCube/images/episode_209/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.623]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.381, 0.769]). The trajectory involves 28 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_209", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_209.json" + } + }, + { + "id": "maniskill_PushCube_out_140", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_140/frame_0042.jpg", + "maniskill/PushCube/images/episode_140/frame_0050.jpg", + "maniskill/PushCube/images/episode_140/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.305, 0.611]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.293, 0.753]). The trajectory involves 28 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_140", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_140.json" + } + }, + { + "id": "maniskill_PushCube_out_920", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_920/frame_0046.jpg", + "maniskill/PushCube/images/episode_920/frame_0053.jpg", + "maniskill/PushCube/images/episode_920/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.422, 0.604]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.428, 0.747]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_920", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_920.json" + } + }, + { + "id": "maniskill_PushCube_out_942", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_942/frame_0044.jpg", + "maniskill/PushCube/images/episode_942/frame_0051.jpg", + "maniskill/PushCube/images/episode_942/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.366, 0.540]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.362, 0.678]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_942", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_942.json" + } + }, + { + "id": "maniskill_PushCube_out_341", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_341/frame_0043.jpg", + "maniskill/PushCube/images/episode_341/frame_0051.jpg", + "maniskill/PushCube/images/episode_341/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.375, 0.607]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.371, 0.756]). The trajectory involves 26 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_341", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_341.json" + } + }, + { + "id": "maniskill_PushCube_out_219", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_219/frame_0045.jpg", + "maniskill/PushCube/images/episode_219/frame_0052.jpg", + "maniskill/PushCube/images/episode_219/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.449, 0.580]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.459, 0.715]). The trajectory involves 24 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_219", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_219.json" + } + }, + { + "id": "maniskill_PushCube_out_832", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_832/frame_0044.jpg", + "maniskill/PushCube/images/episode_832/frame_0050.jpg", + "maniskill/PushCube/images/episode_832/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.473, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.479, 0.648]). The trajectory involves 24 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_832", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 6, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_832.json" + } + }, + { + "id": "maniskill_PushCube_out_340", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_340/frame_0050.jpg", + "maniskill/PushCube/images/episode_340/frame_0057.jpg", + "maniskill/PushCube/images/episode_340/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.479, 0.461]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.490, 0.575]). The trajectory involves 20 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_340", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_340.json" + } + }, + { + "id": "maniskill_PushCube_out_94", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_94/frame_0048.jpg", + "maniskill/PushCube/images/episode_94/frame_0054.jpg", + "maniskill/PushCube/images/episode_94/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.470]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.370, 0.594]). The trajectory involves 20 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_94", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_94.json" + } + }, + { + "id": "maniskill_PushCube_out_45", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_45/frame_0030.jpg", + "maniskill/PushCube/images/episode_45/frame_0054.jpg", + "maniskill/PushCube/images/episode_45/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.321, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.311, 0.541]). The trajectory involves 38 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_45", + "trajectory_length": 38, + "key_frame_indices": [ + 0, + 24, + 37 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_45.json" + } + }, + { + "id": "maniskill_PushCube_out_743", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_743/frame_0043.jpg", + "maniskill/PushCube/images/episode_743/frame_0049.jpg", + "maniskill/PushCube/images/episode_743/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.443, 0.530]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.449, 0.668]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_743", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_743.json" + } + }, + { + "id": "maniskill_PushCube_out_397", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_397/frame_0028.jpg", + "maniskill/PushCube/images/episode_397/frame_0057.jpg", + "maniskill/PushCube/images/episode_397/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.430]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.310, 0.557]). The trajectory involves 44 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_397", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 29, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_397.json" + } + }, + { + "id": "maniskill_PushCube_out_893", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_893/frame_0043.jpg", + "maniskill/PushCube/images/episode_893/frame_0049.jpg", + "maniskill/PushCube/images/episode_893/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.464, 0.522]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.660]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_893", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_893.json" + } + }, + { + "id": "maniskill_PushCube_out_411", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_411/frame_0043.jpg", + "maniskill/PushCube/images/episode_411/frame_0050.jpg", + "maniskill/PushCube/images/episode_411/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.342, 0.596]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.336, 0.733]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_411", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_411.json" + } + }, + { + "id": "maniskill_PushCube_out_246", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_246/frame_0045.jpg", + "maniskill/PushCube/images/episode_246/frame_0055.jpg", + "maniskill/PushCube/images/episode_246/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.318, 0.640]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.313, 0.785]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_246", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_246.json" + } + }, + { + "id": "maniskill_PushCube_out_597", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_597/frame_0045.jpg", + "maniskill/PushCube/images/episode_597/frame_0054.jpg", + "maniskill/PushCube/images/episode_597/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.442, 0.602]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.744]). The trajectory involves 27 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_597", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_597.json" + } + }, + { + "id": "maniskill_PushCube_out_709", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_709/frame_0039.jpg", + "maniskill/PushCube/images/episode_709/frame_0046.jpg", + "maniskill/PushCube/images/episode_709/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.544]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.368, 0.684]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_709", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_709.json" + } + }, + { + "id": "maniskill_PushCube_out_629", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_629/frame_0047.jpg", + "maniskill/PushCube/images/episode_629/frame_0054.jpg", + "maniskill/PushCube/images/episode_629/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.427, 0.537]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.428, 0.676]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_629", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_629.json" + } + }, + { + "id": "maniskill_PushCube_out_931", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_931/frame_0051.jpg", + "maniskill/PushCube/images/episode_931/frame_0057.jpg", + "maniskill/PushCube/images/episode_931/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.459, 0.433]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.464, 0.560]). The trajectory involves 20 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_931", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_931.json" + } + }, + { + "id": "maniskill_PushCube_out_300", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_300/frame_0044.jpg", + "maniskill/PushCube/images/episode_300/frame_0052.jpg", + "maniskill/PushCube/images/episode_300/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.394, 0.566]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.391, 0.712]). The trajectory involves 25 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_300", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_300.json" + } + }, + { + "id": "maniskill_PushCube_out_559", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_559/frame_0043.jpg", + "maniskill/PushCube/images/episode_559/frame_0050.jpg", + "maniskill/PushCube/images/episode_559/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.579]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.369, 0.717]). The trajectory involves 26 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_559", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_559.json" + } + }, + { + "id": "maniskill_PushCube_out_741", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_741/frame_0046.jpg", + "maniskill/PushCube/images/episode_741/frame_0053.jpg", + "maniskill/PushCube/images/episode_741/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.482, 0.585]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.485, 0.721]). The trajectory involves 24 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_741", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_741.json" + } + }, + { + "id": "maniskill_PushCube_out_516", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_516/frame_0045.jpg", + "maniskill/PushCube/images/episode_516/frame_0051.jpg", + "maniskill/PushCube/images/episode_516/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.469, 0.446]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.476, 0.575]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_516", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_516.json" + } + }, + { + "id": "maniskill_PushCube_out_29", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_29/frame_0042.jpg", + "maniskill/PushCube/images/episode_29/frame_0052.jpg", + "maniskill/PushCube/images/episode_29/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.448, 0.619]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.450, 0.764]). The trajectory involves 28 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_29", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 10, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_29.json" + } + }, + { + "id": "maniskill_PushCube_out_506", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_506/frame_0042.jpg", + "maniskill/PushCube/images/episode_506/frame_0049.jpg", + "maniskill/PushCube/images/episode_506/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.434, 0.549]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.436, 0.688]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_506", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_506.json" + } + }, + { + "id": "maniskill_PushCube_out_452", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_452/frame_0045.jpg", + "maniskill/PushCube/images/episode_452/frame_0052.jpg", + "maniskill/PushCube/images/episode_452/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.339, 0.532]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.333, 0.669]). The trajectory involves 22 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_452", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_452.json" + } + }, + { + "id": "maniskill_PushCube_out_594", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_594/frame_0044.jpg", + "maniskill/PushCube/images/episode_594/frame_0051.jpg", + "maniskill/PushCube/images/episode_594/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.549]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.359, 0.678]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_594", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_594.json" + } + }, + { + "id": "maniskill_PushCube_out_665", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_665/frame_0044.jpg", + "maniskill/PushCube/images/episode_665/frame_0051.jpg", + "maniskill/PushCube/images/episode_665/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.464]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.324, 0.593]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_665", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_665.json" + } + }, + { + "id": "maniskill_PushCube_out_514", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_514/frame_0030.jpg", + "maniskill/PushCube/images/episode_514/frame_0054.jpg", + "maniskill/PushCube/images/episode_514/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.425, 0.432]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.426, 0.562]). The trajectory involves 41 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_514", + "trajectory_length": 41, + "key_frame_indices": [ + 0, + 24, + 40 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_514.json" + } + }, + { + "id": "maniskill_PushCube_out_11", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_11/frame_0042.jpg", + "maniskill/PushCube/images/episode_11/frame_0049.jpg", + "maniskill/PushCube/images/episode_11/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.351, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.343, 0.654]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_11", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_11.json" + } + }, + { + "id": "maniskill_PushCube_out_951", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_951/frame_0043.jpg", + "maniskill/PushCube/images/episode_951/frame_0051.jpg", + "maniskill/PushCube/images/episode_951/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.598]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.331, 0.747]). The trajectory involves 26 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_951", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_951.json" + } + }, + { + "id": "maniskill_PushCube_out_564", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_564/frame_0044.jpg", + "maniskill/PushCube/images/episode_564/frame_0051.jpg", + "maniskill/PushCube/images/episode_564/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.448, 0.529]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.451, 0.667]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_564", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_564.json" + } + }, + { + "id": "maniskill_PushCube_out_821", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_821/frame_0044.jpg", + "maniskill/PushCube/images/episode_821/frame_0054.jpg", + "maniskill/PushCube/images/episode_821/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.390, 0.756]). The trajectory involves 26 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_821", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 10, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_821.json" + } + }, + { + "id": "maniskill_PushCube_out_829", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_829/frame_0029.jpg", + "maniskill/PushCube/images/episode_829/frame_0053.jpg", + "maniskill/PushCube/images/episode_829/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.351, 0.438]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.342, 0.556]). The trajectory involves 41 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_829", + "trajectory_length": 41, + "key_frame_indices": [ + 0, + 24, + 40 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_829.json" + } + }, + { + "id": "maniskill_PushCube_out_225", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_225/frame_0047.jpg", + "maniskill/PushCube/images/episode_225/frame_0055.jpg", + "maniskill/PushCube/images/episode_225/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.490, 0.604]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.497, 0.746]). The trajectory involves 27 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_225", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_225.json" + } + }, + { + "id": "maniskill_PushCube_out_344", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_344/frame_0049.jpg", + "maniskill/PushCube/images/episode_344/frame_0058.jpg", + "maniskill/PushCube/images/episode_344/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.321, 0.615]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.756]). The trajectory involves 26 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_344", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 9, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_344.json" + } + }, + { + "id": "maniskill_PushCube_out_834", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_834/frame_0048.jpg", + "maniskill/PushCube/images/episode_834/frame_0054.jpg", + "maniskill/PushCube/images/episode_834/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.455, 0.459]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.460, 0.588]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_834", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_834.json" + } + }, + { + "id": "maniskill_PushCube_out_581", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_581/frame_0042.jpg", + "maniskill/PushCube/images/episode_581/frame_0050.jpg", + "maniskill/PushCube/images/episode_581/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.356, 0.574]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.354, 0.718]). The trajectory involves 25 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_581", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_581.json" + } + }, + { + "id": "maniskill_PushCube_out_499", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_499/frame_0044.jpg", + "maniskill/PushCube/images/episode_499/frame_0050.jpg", + "maniskill/PushCube/images/episode_499/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.446, 0.483]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.449, 0.614]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_499", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_499.json" + } + }, + { + "id": "maniskill_PushCube_out_379", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_379/frame_0044.jpg", + "maniskill/PushCube/images/episode_379/frame_0054.jpg", + "maniskill/PushCube/images/episode_379/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.414, 0.639]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.415, 0.787]). The trajectory involves 31 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_379", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 10, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_379.json" + } + }, + { + "id": "maniskill_PushCube_out_780", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_780/frame_0041.jpg", + "maniskill/PushCube/images/episode_780/frame_0048.jpg", + "maniskill/PushCube/images/episode_780/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.542]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.303, 0.680]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_780", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_780.json" + } + }, + { + "id": "maniskill_PushCube_out_846", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_846/frame_0047.jpg", + "maniskill/PushCube/images/episode_846/frame_0053.jpg", + "maniskill/PushCube/images/episode_846/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.327, 0.457]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.318, 0.585]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_846", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_846.json" + } + }, + { + "id": "maniskill_PushCube_out_835", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_835/frame_0043.jpg", + "maniskill/PushCube/images/episode_835/frame_0050.jpg", + "maniskill/PushCube/images/episode_835/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.343, 0.530]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.337, 0.669]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_835", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_835.json" + } + }, + { + "id": "maniskill_PushCube_out_294", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_294/frame_0029.jpg", + "maniskill/PushCube/images/episode_294/frame_0059.jpg", + "maniskill/PushCube/images/episode_294/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.427]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.358, 0.555]). The trajectory involves 44 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_294", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 30, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_294.json" + } + }, + { + "id": "maniskill_PushCube_out_138", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_138/frame_0043.jpg", + "maniskill/PushCube/images/episode_138/frame_0051.jpg", + "maniskill/PushCube/images/episode_138/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.607]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.326, 0.749]). The trajectory involves 26 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_138", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_138.json" + } + }, + { + "id": "maniskill_PushCube_out_223", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_223/frame_0044.jpg", + "maniskill/PushCube/images/episode_223/frame_0051.jpg", + "maniskill/PushCube/images/episode_223/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.453, 0.554]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.460, 0.685]). The trajectory involves 22 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_223", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_223.json" + } + }, + { + "id": "maniskill_PushCube_out_62", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_62/frame_0056.jpg", + "maniskill/PushCube/images/episode_62/frame_0061.jpg", + "maniskill/PushCube/images/episode_62/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.417, 0.427]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.541]). The trajectory involves 23 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_62", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 5, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_62.json" + } + }, + { + "id": "maniskill_PushCube_out_91", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_91/frame_0046.jpg", + "maniskill/PushCube/images/episode_91/frame_0052.jpg", + "maniskill/PushCube/images/episode_91/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.311, 0.450]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.300, 0.579]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_91", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_91.json" + } + }, + { + "id": "maniskill_PushCube_out_667", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_667/frame_0042.jpg", + "maniskill/PushCube/images/episode_667/frame_0049.jpg", + "maniskill/PushCube/images/episode_667/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.548]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.375, 0.687]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_667", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_667.json" + } + }, + { + "id": "maniskill_PushCube_out_715", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_715/frame_0044.jpg", + "maniskill/PushCube/images/episode_715/frame_0054.jpg", + "maniskill/PushCube/images/episode_715/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.371, 0.633]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.370, 0.780]). The trajectory involves 30 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_715", + "trajectory_length": 30, + "key_frame_indices": [ + 0, + 10, + 29 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_715.json" + } + }, + { + "id": "maniskill_PushCube_out_518", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_518/frame_0043.jpg", + "maniskill/PushCube/images/episode_518/frame_0050.jpg", + "maniskill/PushCube/images/episode_518/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.579]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.325, 0.722]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_518", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_518.json" + } + }, + { + "id": "maniskill_PushCube_out_451", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_451/frame_0045.jpg", + "maniskill/PushCube/images/episode_451/frame_0052.jpg", + "maniskill/PushCube/images/episode_451/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.362, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.357, 0.666]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_451", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_451.json" + } + }, + { + "id": "maniskill_PushCube_out_775", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_775/frame_0030.jpg", + "maniskill/PushCube/images/episode_775/frame_0054.jpg", + "maniskill/PushCube/images/episode_775/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.465, 0.423]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.473, 0.553]). The trajectory involves 41 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_775", + "trajectory_length": 41, + "key_frame_indices": [ + 0, + 24, + 40 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_775.json" + } + }, + { + "id": "maniskill_PushCube_out_454", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_454/frame_0047.jpg", + "maniskill/PushCube/images/episode_454/frame_0053.jpg", + "maniskill/PushCube/images/episode_454/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.306, 0.619]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_454", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_454.json" + } + }, + { + "id": "maniskill_PushCube_out_166", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_166/frame_0047.jpg", + "maniskill/PushCube/images/episode_166/frame_0054.jpg", + "maniskill/PushCube/images/episode_166/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.480, 0.519]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.494, 0.650]). The trajectory involves 24 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_166", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_166.json" + } + }, + { + "id": "maniskill_PushCube_out_428", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_428/frame_0044.jpg", + "maniskill/PushCube/images/episode_428/frame_0051.jpg", + "maniskill/PushCube/images/episode_428/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.322, 0.590]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.733]). The trajectory involves 29 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_428", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 7, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_428.json" + } + }, + { + "id": "maniskill_PushCube_out_124", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_124/frame_0046.jpg", + "maniskill/PushCube/images/episode_124/frame_0052.jpg", + "maniskill/PushCube/images/episode_124/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.438]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.316, 0.566]). The trajectory involves 22 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_124", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_124.json" + } + }, + { + "id": "maniskill_PushCube_out_595", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_595/frame_0057.jpg", + "maniskill/PushCube/images/episode_595/frame_0063.jpg", + "maniskill/PushCube/images/episode_595/frame_0079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.422]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.423, 0.534]). The trajectory involves 23 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_595", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_595.json" + } + }, + { + "id": "maniskill_PushCube_out_41", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_41/frame_0047.jpg", + "maniskill/PushCube/images/episode_41/frame_0054.jpg", + "maniskill/PushCube/images/episode_41/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.344, 0.513]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.339, 0.652]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_41", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_41.json" + } + }, + { + "id": "maniskill_PushCube_out_622", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_622/frame_0043.jpg", + "maniskill/PushCube/images/episode_622/frame_0049.jpg", + "maniskill/PushCube/images/episode_622/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.479, 0.488]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.487, 0.620]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_622", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_622.json" + } + }, + { + "id": "maniskill_PushCube_out_615", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_615/frame_0043.jpg", + "maniskill/PushCube/images/episode_615/frame_0050.jpg", + "maniskill/PushCube/images/episode_615/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.420, 0.525]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.420, 0.665]). The trajectory involves 23 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_615", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_615.json" + } + }, + { + "id": "maniskill_PushCube_out_317", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_317/frame_0046.jpg", + "maniskill/PushCube/images/episode_317/frame_0051.jpg", + "maniskill/PushCube/images/episode_317/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.464, 0.456]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.584]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_317", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 5, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_317.json" + } + }, + { + "id": "maniskill_PushCube_out_940", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_940/frame_0043.jpg", + "maniskill/PushCube/images/episode_940/frame_0051.jpg", + "maniskill/PushCube/images/episode_940/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.327, 0.571]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.319, 0.716]). The trajectory involves 25 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_940", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_940.json" + } + }, + { + "id": "maniskill_PushCube_out_982", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_982/frame_0042.jpg", + "maniskill/PushCube/images/episode_982/frame_0049.jpg", + "maniskill/PushCube/images/episode_982/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.471, 0.553]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.475, 0.698]). The trajectory involves 28 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_982", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 7, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_982.json" + } + }, + { + "id": "maniskill_PushCube_out_153", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_153/frame_0027.jpg", + "maniskill/PushCube/images/episode_153/frame_0055.jpg", + "maniskill/PushCube/images/episode_153/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.426, 0.445]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.574]). The trajectory involves 43 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_153", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 28, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_153.json" + } + }, + { + "id": "maniskill_PushCube_out_217", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_217/frame_0043.jpg", + "maniskill/PushCube/images/episode_217/frame_0049.jpg", + "maniskill/PushCube/images/episode_217/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.431, 0.625]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.439, 0.770]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_217", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 6, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_217.json" + } + }, + { + "id": "maniskill_PushCube_out_18", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_18/frame_0048.jpg", + "maniskill/PushCube/images/episode_18/frame_0056.jpg", + "maniskill/PushCube/images/episode_18/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.341, 0.637]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.333, 0.783]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_18", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 8, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_18.json" + } + }, + { + "id": "maniskill_PushCube_out_614", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_614/frame_0047.jpg", + "maniskill/PushCube/images/episode_614/frame_0053.jpg", + "maniskill/PushCube/images/episode_614/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.451, 0.460]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.588]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_614", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_614.json" + } + }, + { + "id": "maniskill_PushCube_out_161", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_161/frame_0042.jpg", + "maniskill/PushCube/images/episode_161/frame_0049.jpg", + "maniskill/PushCube/images/episode_161/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.369, 0.666]). The trajectory involves 24 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_161", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_161.json" + } + }, + { + "id": "maniskill_PushCube_out_202", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_202/frame_0049.jpg", + "maniskill/PushCube/images/episode_202/frame_0055.jpg", + "maniskill/PushCube/images/episode_202/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.446, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.456, 0.618]). The trajectory involves 20 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_202", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_202.json" + } + }, + { + "id": "maniskill_PushCube_out_234", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_234/frame_0044.jpg", + "maniskill/PushCube/images/episode_234/frame_0052.jpg", + "maniskill/PushCube/images/episode_234/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.432, 0.577]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.436, 0.716]). The trajectory involves 26 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_234", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_234.json" + } + }, + { + "id": "maniskill_PushCube_out_582", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_582/frame_0048.jpg", + "maniskill/PushCube/images/episode_582/frame_0054.jpg", + "maniskill/PushCube/images/episode_582/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.471, 0.455]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.478, 0.583]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_582", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_582.json" + } + }, + { + "id": "maniskill_PushCube_out_380", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_380/frame_0046.jpg", + "maniskill/PushCube/images/episode_380/frame_0053.jpg", + "maniskill/PushCube/images/episode_380/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.535]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.415, 0.673]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_380", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_380.json" + } + }, + { + "id": "maniskill_PushCube_out_434", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_434/frame_0041.jpg", + "maniskill/PushCube/images/episode_434/frame_0048.jpg", + "maniskill/PushCube/images/episode_434/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.484, 0.518]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.493, 0.655]). The trajectory involves 23 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_434", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_434.json" + } + }, + { + "id": "maniskill_PushCube_out_888", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_888/frame_0042.jpg", + "maniskill/PushCube/images/episode_888/frame_0049.jpg", + "maniskill/PushCube/images/episode_888/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.491, 0.574]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.497, 0.717]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_888", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_888.json" + } + }, + { + "id": "maniskill_PushCube_out_90", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_90/frame_0046.jpg", + "maniskill/PushCube/images/episode_90/frame_0052.jpg", + "maniskill/PushCube/images/episode_90/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.464]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.359, 0.593]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_90", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_90.json" + } + }, + { + "id": "maniskill_PushCube_out_613", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_613/frame_0049.jpg", + "maniskill/PushCube/images/episode_613/frame_0057.jpg", + "maniskill/PushCube/images/episode_613/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.433, 0.631]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.436, 0.775]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_613", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_613.json" + } + }, + { + "id": "maniskill_PushCube_out_962", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_962/frame_0039.jpg", + "maniskill/PushCube/images/episode_962/frame_0046.jpg", + "maniskill/PushCube/images/episode_962/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.451, 0.534]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.456, 0.672]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_962", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_962.json" + } + }, + { + "id": "maniskill_PushCube_out_740", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_740/frame_0043.jpg", + "maniskill/PushCube/images/episode_740/frame_0051.jpg", + "maniskill/PushCube/images/episode_740/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.620]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.410, 0.772]). The trajectory involves 28 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_740", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_740.json" + } + }, + { + "id": "maniskill_PushCube_out_366", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_366/frame_0041.jpg", + "maniskill/PushCube/images/episode_366/frame_0049.jpg", + "maniskill/PushCube/images/episode_366/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.311, 0.582]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.305, 0.726]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_366", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_366.json" + } + }, + { + "id": "maniskill_PushCube_out_701", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_701/frame_0045.jpg", + "maniskill/PushCube/images/episode_701/frame_0051.jpg", + "maniskill/PushCube/images/episode_701/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.455]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.446, 0.584]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_701", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_701.json" + } + }, + { + "id": "maniskill_PushCube_out_476", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_476/frame_0043.jpg", + "maniskill/PushCube/images/episode_476/frame_0050.jpg", + "maniskill/PushCube/images/episode_476/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.396, 0.544]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.397, 0.675]). The trajectory involves 22 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_476", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_476.json" + } + }, + { + "id": "maniskill_PushCube_out_99", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_99/frame_0028.jpg", + "maniskill/PushCube/images/episode_99/frame_0053.jpg", + "maniskill/PushCube/images/episode_99/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.448, 0.418]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.541]). The trajectory involves 37 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_99", + "trajectory_length": 37, + "key_frame_indices": [ + 0, + 25, + 36 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_99.json" + } + }, + { + "id": "maniskill_PushCube_out_229", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_229/frame_0044.jpg", + "maniskill/PushCube/images/episode_229/frame_0050.jpg", + "maniskill/PushCube/images/episode_229/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.313, 0.602]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_229", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_229.json" + } + }, + { + "id": "maniskill_PushCube_out_843", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_843/frame_0045.jpg", + "maniskill/PushCube/images/episode_843/frame_0051.jpg", + "maniskill/PushCube/images/episode_843/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.343, 0.515]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.337, 0.646]). The trajectory involves 26 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_843", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 6, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_843.json" + } + }, + { + "id": "maniskill_PushCube_out_645", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_645/frame_0051.jpg", + "maniskill/PushCube/images/episode_645/frame_0057.jpg", + "maniskill/PushCube/images/episode_645/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.487, 0.460]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.500, 0.574]). The trajectory involves 20 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_645", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_645.json" + } + }, + { + "id": "maniskill_PushCube_out_101", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_101/frame_0043.jpg", + "maniskill/PushCube/images/episode_101/frame_0051.jpg", + "maniskill/PushCube/images/episode_101/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.464, 0.611]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.468, 0.758]). The trajectory involves 25 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_101", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_101.json" + } + }, + { + "id": "maniskill_PushCube_out_416", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_416/frame_0030.jpg", + "maniskill/PushCube/images/episode_416/frame_0054.jpg", + "maniskill/PushCube/images/episode_416/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.418, 0.430]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.546]). The trajectory involves 36 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_416", + "trajectory_length": 36, + "key_frame_indices": [ + 0, + 24, + 35 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_416.json" + } + }, + { + "id": "maniskill_PushCube_out_291", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_291/frame_0047.jpg", + "maniskill/PushCube/images/episode_291/frame_0053.jpg", + "maniskill/PushCube/images/episode_291/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.467, 0.473]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.475, 0.588]). The trajectory involves 20 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_291", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_291.json" + } + }, + { + "id": "maniskill_PushCube_out_404", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_404/frame_0026.jpg", + "maniskill/PushCube/images/episode_404/frame_0050.jpg", + "maniskill/PushCube/images/episode_404/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.440, 0.445]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.443, 0.575]). The trajectory involves 40 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_404", + "trajectory_length": 40, + "key_frame_indices": [ + 0, + 24, + 39 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_404.json" + } + }, + { + "id": "maniskill_PushCube_out_912", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_912/frame_0044.jpg", + "maniskill/PushCube/images/episode_912/frame_0050.jpg", + "maniskill/PushCube/images/episode_912/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.478, 0.486]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.485, 0.617]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_912", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_912.json" + } + }, + { + "id": "maniskill_PushCube_out_941", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_941/frame_0043.jpg", + "maniskill/PushCube/images/episode_941/frame_0050.jpg", + "maniskill/PushCube/images/episode_941/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.423, 0.533]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.423, 0.672]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_941", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_941.json" + } + }, + { + "id": "maniskill_PushCube_out_586", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_586/frame_0042.jpg", + "maniskill/PushCube/images/episode_586/frame_0049.jpg", + "maniskill/PushCube/images/episode_586/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.482, 0.501]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.489, 0.639]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_586", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_586.json" + } + }, + { + "id": "maniskill_PushCube_out_372", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_372/frame_0042.jpg", + "maniskill/PushCube/images/episode_372/frame_0049.jpg", + "maniskill/PushCube/images/episode_372/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.365, 0.603]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.359, 0.752]). The trajectory involves 26 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_372", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_372.json" + } + }, + { + "id": "maniskill_PushCube_out_583", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_583/frame_0049.jpg", + "maniskill/PushCube/images/episode_583/frame_0055.jpg", + "maniskill/PushCube/images/episode_583/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.404, 0.490]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.402, 0.617]). The trajectory involves 20 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_583", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_583.json" + } + }, + { + "id": "maniskill_PushCube_out_975", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_975/frame_0044.jpg", + "maniskill/PushCube/images/episode_975/frame_0052.jpg", + "maniskill/PushCube/images/episode_975/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.436, 0.592]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.437, 0.731]). The trajectory involves 25 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_975", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_975.json" + } + }, + { + "id": "maniskill_PushCube_out_484", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_484/frame_0039.jpg", + "maniskill/PushCube/images/episode_484/frame_0047.jpg", + "maniskill/PushCube/images/episode_484/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.581]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.724]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_484", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_484.json" + } + }, + { + "id": "maniskill_PushCube_out_596", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_596/frame_0042.jpg", + "maniskill/PushCube/images/episode_596/frame_0049.jpg", + "maniskill/PushCube/images/episode_596/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.460, 0.542]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.464, 0.681]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_596", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_596.json" + } + }, + { + "id": "maniskill_PushCube_out_762", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_762/frame_0043.jpg", + "maniskill/PushCube/images/episode_762/frame_0049.jpg", + "maniskill/PushCube/images/episode_762/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.303, 0.632]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_762", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_762.json" + } + }, + { + "id": "maniskill_PushCube_out_54", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_54/frame_0044.jpg", + "maniskill/PushCube/images/episode_54/frame_0055.jpg", + "maniskill/PushCube/images/episode_54/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.412, 0.633]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.415, 0.780]). The trajectory involves 31 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_54", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 11, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_54.json" + } + }, + { + "id": "maniskill_PushCube_out_248", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_248/frame_0042.jpg", + "maniskill/PushCube/images/episode_248/frame_0049.jpg", + "maniskill/PushCube/images/episode_248/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.449, 0.498]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.631]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_248", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_248.json" + } + }, + { + "id": "maniskill_PushCube_out_132", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_132/frame_0044.jpg", + "maniskill/PushCube/images/episode_132/frame_0050.jpg", + "maniskill/PushCube/images/episode_132/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.448, 0.480]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.610]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_132", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_132.json" + } + }, + { + "id": "maniskill_PushCube_out_616", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_616/frame_0045.jpg", + "maniskill/PushCube/images/episode_616/frame_0052.jpg", + "maniskill/PushCube/images/episode_616/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.512]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.446, 0.630]). The trajectory involves 20 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_616", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_616.json" + } + }, + { + "id": "maniskill_PushCube_out_309", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_309/frame_0047.jpg", + "maniskill/PushCube/images/episode_309/frame_0057.jpg", + "maniskill/PushCube/images/episode_309/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.490, 0.612]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.502, 0.756]). The trajectory involves 28 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_309", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 10, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_309.json" + } + }, + { + "id": "maniskill_PushCube_out_823", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_823/frame_0044.jpg", + "maniskill/PushCube/images/episode_823/frame_0051.jpg", + "maniskill/PushCube/images/episode_823/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.428, 0.615]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.430, 0.760]). The trajectory involves 28 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_823", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 7, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_823.json" + } + }, + { + "id": "maniskill_PushCube_out_460", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_460/frame_0051.jpg", + "maniskill/PushCube/images/episode_460/frame_0058.jpg", + "maniskill/PushCube/images/episode_460/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.451]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.382, 0.564]). The trajectory involves 23 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_460", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_460.json" + } + }, + { + "id": "maniskill_PushCube_out_424", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_424/frame_0048.jpg", + "maniskill/PushCube/images/episode_424/frame_0054.jpg", + "maniskill/PushCube/images/episode_424/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.381, 0.503]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.377, 0.636]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_424", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_424.json" + } + }, + { + "id": "maniskill_PushCube_out_634", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_634/frame_0041.jpg", + "maniskill/PushCube/images/episode_634/frame_0048.jpg", + "maniskill/PushCube/images/episode_634/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.547]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.316, 0.686]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_634", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_634.json" + } + }, + { + "id": "maniskill_PushCube_out_563", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_563/frame_0044.jpg", + "maniskill/PushCube/images/episode_563/frame_0051.jpg", + "maniskill/PushCube/images/episode_563/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.463, 0.579]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.465, 0.716]). The trajectory involves 24 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_563", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_563.json" + } + }, + { + "id": "maniskill_PushCube_out_19", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_19/frame_0044.jpg", + "maniskill/PushCube/images/episode_19/frame_0051.jpg", + "maniskill/PushCube/images/episode_19/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.538]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.326, 0.666]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_19", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_19.json" + } + }, + { + "id": "maniskill_PushCube_out_405", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_405/frame_0045.jpg", + "maniskill/PushCube/images/episode_405/frame_0051.jpg", + "maniskill/PushCube/images/episode_405/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.406, 0.492]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.407, 0.613]). The trajectory involves 20 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_405", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_405.json" + } + }, + { + "id": "maniskill_PushCube_out_487", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_487/frame_0042.jpg", + "maniskill/PushCube/images/episode_487/frame_0049.jpg", + "maniskill/PushCube/images/episode_487/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.359, 0.528]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.355, 0.665]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_487", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_487.json" + } + }, + { + "id": "maniskill_PushCube_out_107", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_107/frame_0042.jpg", + "maniskill/PushCube/images/episode_107/frame_0049.jpg", + "maniskill/PushCube/images/episode_107/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.322, 0.573]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.313, 0.715]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_107", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_107.json" + } + }, + { + "id": "maniskill_PushCube_out_905", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_905/frame_0048.jpg", + "maniskill/PushCube/images/episode_905/frame_0054.jpg", + "maniskill/PushCube/images/episode_905/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.481, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.492, 0.564]). The trajectory involves 22 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_905", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_905.json" + } + }, + { + "id": "maniskill_PushCube_out_933", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_933/frame_0044.jpg", + "maniskill/PushCube/images/episode_933/frame_0053.jpg", + "maniskill/PushCube/images/episode_933/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.577]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.316, 0.713]). The trajectory involves 25 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_933", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 9, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_933.json" + } + }, + { + "id": "maniskill_PushCube_out_930", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_930/frame_0046.jpg", + "maniskill/PushCube/images/episode_930/frame_0052.jpg", + "maniskill/PushCube/images/episode_930/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.316, 0.469]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.305, 0.598]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_930", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_930.json" + } + }, + { + "id": "maniskill_PushCube_out_781", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_781/frame_0049.jpg", + "maniskill/PushCube/images/episode_781/frame_0056.jpg", + "maniskill/PushCube/images/episode_781/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.434, 0.443]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.436, 0.572]). The trajectory involves 22 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_781", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_781.json" + } + }, + { + "id": "maniskill_PushCube_out_79", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_79/frame_0045.jpg", + "maniskill/PushCube/images/episode_79/frame_0055.jpg", + "maniskill/PushCube/images/episode_79/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.454, 0.641]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.461, 0.789]). The trajectory involves 32 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_79", + "trajectory_length": 32, + "key_frame_indices": [ + 0, + 10, + 31 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_79.json" + } + }, + { + "id": "maniskill_PushCube_out_117", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_117/frame_0042.jpg", + "maniskill/PushCube/images/episode_117/frame_0049.jpg", + "maniskill/PushCube/images/episode_117/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.415, 0.537]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.675]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_117", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_117.json" + } + }, + { + "id": "maniskill_PushCube_out_114", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_114/frame_0042.jpg", + "maniskill/PushCube/images/episode_114/frame_0049.jpg", + "maniskill/PushCube/images/episode_114/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.538]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.359, 0.676]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_114", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_114.json" + } + }, + { + "id": "maniskill_PushCube_out_887", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_887/frame_0044.jpg", + "maniskill/PushCube/images/episode_887/frame_0052.jpg", + "maniskill/PushCube/images/episode_887/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.619]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.370, 0.765]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_887", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 8, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_887.json" + } + }, + { + "id": "maniskill_PushCube_out_523", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_523/frame_0043.jpg", + "maniskill/PushCube/images/episode_523/frame_0050.jpg", + "maniskill/PushCube/images/episode_523/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.343, 0.484]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.336, 0.615]). The trajectory involves 21 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_523", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_523.json" + } + }, + { + "id": "maniskill_PushCube_out_502", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_502/frame_0045.jpg", + "maniskill/PushCube/images/episode_502/frame_0051.jpg", + "maniskill/PushCube/images/episode_502/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.488]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.390, 0.619]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_502", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_502.json" + } + }, + { + "id": "maniskill_PushCube_out_579", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_579/frame_0039.jpg", + "maniskill/PushCube/images/episode_579/frame_0046.jpg", + "maniskill/PushCube/images/episode_579/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.526]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.397, 0.666]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_579", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_579.json" + } + }, + { + "id": "maniskill_PushCube_out_162", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_162/frame_0051.jpg", + "maniskill/PushCube/images/episode_162/frame_0056.jpg", + "maniskill/PushCube/images/episode_162/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.481, 0.463]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.494, 0.578]). The trajectory involves 20 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_162", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 5, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_162.json" + } + }, + { + "id": "maniskill_PushCube_out_139", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_139/frame_0043.jpg", + "maniskill/PushCube/images/episode_139/frame_0051.jpg", + "maniskill/PushCube/images/episode_139/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.626]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.377, 0.770]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_139", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_139.json" + } + }, + { + "id": "maniskill_PushCube_out_207", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_207/frame_0031.jpg", + "maniskill/PushCube/images/episode_207/frame_0060.jpg", + "maniskill/PushCube/images/episode_207/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.423]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.408, 0.539]). The trajectory involves 47 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_207", + "trajectory_length": 47, + "key_frame_indices": [ + 0, + 29, + 46 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_207.json" + } + }, + { + "id": "maniskill_PushCube_out_364", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_364/frame_0038.jpg", + "maniskill/PushCube/images/episode_364/frame_0046.jpg", + "maniskill/PushCube/images/episode_364/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.574]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.379, 0.717]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_364", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_364.json" + } + }, + { + "id": "maniskill_PushCube_out_474", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_474/frame_0046.jpg", + "maniskill/PushCube/images/episode_474/frame_0053.jpg", + "maniskill/PushCube/images/episode_474/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.453]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.583]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_474", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_474.json" + } + }, + { + "id": "maniskill_PushCube_out_186", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_186/frame_0041.jpg", + "maniskill/PushCube/images/episode_186/frame_0048.jpg", + "maniskill/PushCube/images/episode_186/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.583]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.305, 0.726]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_186", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_186.json" + } + }, + { + "id": "maniskill_PushCube_out_718", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_718/frame_0045.jpg", + "maniskill/PushCube/images/episode_718/frame_0052.jpg", + "maniskill/PushCube/images/episode_718/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.568]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.411, 0.714]). The trajectory involves 27 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_718", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_718.json" + } + }, + { + "id": "maniskill_PushCube_out_772", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_772/frame_0048.jpg", + "maniskill/PushCube/images/episode_772/frame_0056.jpg", + "maniskill/PushCube/images/episode_772/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.619]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.329, 0.764]). The trajectory involves 28 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_772", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_772.json" + } + }, + { + "id": "maniskill_PushCube_out_436", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_436/frame_0048.jpg", + "maniskill/PushCube/images/episode_436/frame_0055.jpg", + "maniskill/PushCube/images/episode_436/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.564]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.343, 0.694]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_436", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_436.json" + } + }, + { + "id": "maniskill_PushCube_out_557", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_557/frame_0044.jpg", + "maniskill/PushCube/images/episode_557/frame_0051.jpg", + "maniskill/PushCube/images/episode_557/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.444, 0.582]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.452, 0.717]). The trajectory involves 24 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_557", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_557.json" + } + }, + { + "id": "maniskill_PushCube_out_848", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_848/frame_0038.jpg", + "maniskill/PushCube/images/episode_848/frame_0046.jpg", + "maniskill/PushCube/images/episode_848/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.546]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.302, 0.689]). The trajectory involves 25 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_848", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_848.json" + } + }, + { + "id": "maniskill_PushCube_out_142", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_142/frame_0043.jpg", + "maniskill/PushCube/images/episode_142/frame_0049.jpg", + "maniskill/PushCube/images/episode_142/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.491, 0.515]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.499, 0.654]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_142", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_142.json" + } + }, + { + "id": "maniskill_PushCube_out_146", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_146/frame_0040.jpg", + "maniskill/PushCube/images/episode_146/frame_0047.jpg", + "maniskill/PushCube/images/episode_146/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.550]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.357, 0.690]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_146", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_146.json" + } + }, + { + "id": "maniskill_PushCube_out_738", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_738/frame_0045.jpg", + "maniskill/PushCube/images/episode_738/frame_0051.jpg", + "maniskill/PushCube/images/episode_738/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.425, 0.482]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.426, 0.613]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_738", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_738.json" + } + }, + { + "id": "maniskill_PushCube_out_965", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_965/frame_0049.jpg", + "maniskill/PushCube/images/episode_965/frame_0056.jpg", + "maniskill/PushCube/images/episode_965/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.503]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.411, 0.642]). The trajectory involves 26 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_965", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_965.json" + } + }, + { + "id": "maniskill_PushCube_out_827", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_827/frame_0030.jpg", + "maniskill/PushCube/images/episode_827/frame_0054.jpg", + "maniskill/PushCube/images/episode_827/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.453, 0.424]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.460, 0.553]). The trajectory involves 41 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_827", + "trajectory_length": 41, + "key_frame_indices": [ + 0, + 24, + 40 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_827.json" + } + }, + { + "id": "maniskill_PushCube_out_695", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_695/frame_0051.jpg", + "maniskill/PushCube/images/episode_695/frame_0056.jpg", + "maniskill/PushCube/images/episode_695/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.454]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.382, 0.572]). The trajectory involves 21 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_695", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 5, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_695.json" + } + }, + { + "id": "maniskill_PushCube_out_681", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_681/frame_0055.jpg", + "maniskill/PushCube/images/episode_681/frame_0070.jpg", + "maniskill/PushCube/images/episode_681/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.461, 0.433]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.478, 0.550]). The trajectory involves 23 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_681", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 15, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_681.json" + } + }, + { + "id": "maniskill_PushCube_out_783", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_783/frame_0039.jpg", + "maniskill/PushCube/images/episode_783/frame_0046.jpg", + "maniskill/PushCube/images/episode_783/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.543]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.682]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_783", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_783.json" + } + }, + { + "id": "maniskill_PushCube_out_382", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_382/frame_0045.jpg", + "maniskill/PushCube/images/episode_382/frame_0053.jpg", + "maniskill/PushCube/images/episode_382/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.535]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.374, 0.675]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_382", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 8, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_382.json" + } + }, + { + "id": "maniskill_PushCube_out_901", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_901/frame_0043.jpg", + "maniskill/PushCube/images/episode_901/frame_0051.jpg", + "maniskill/PushCube/images/episode_901/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.335, 0.603]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.329, 0.749]). The trajectory involves 25 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_901", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_901.json" + } + }, + { + "id": "maniskill_PushCube_out_691", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_691/frame_0042.jpg", + "maniskill/PushCube/images/episode_691/frame_0049.jpg", + "maniskill/PushCube/images/episode_691/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.552]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.410, 0.692]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_691", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_691.json" + } + }, + { + "id": "maniskill_PushCube_out_227", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_227/frame_0027.jpg", + "maniskill/PushCube/images/episode_227/frame_0052.jpg", + "maniskill/PushCube/images/episode_227/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.430]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.304, 0.558]). The trajectory involves 40 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_227", + "trajectory_length": 40, + "key_frame_indices": [ + 0, + 25, + 39 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_227.json" + } + }, + { + "id": "maniskill_PushCube_out_442", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_442/frame_0044.jpg", + "maniskill/PushCube/images/episode_442/frame_0054.jpg", + "maniskill/PushCube/images/episode_442/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.353, 0.615]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.342, 0.761]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_442", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_442.json" + } + }, + { + "id": "maniskill_PushCube_out_565", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_565/frame_0051.jpg", + "maniskill/PushCube/images/episode_565/frame_0057.jpg", + "maniskill/PushCube/images/episode_565/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.467]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.384, 0.596]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_565", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_565.json" + } + }, + { + "id": "maniskill_PushCube_out_778", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_778/frame_0050.jpg", + "maniskill/PushCube/images/episode_778/frame_0056.jpg", + "maniskill/PushCube/images/episode_778/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.311, 0.455]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.301, 0.582]). The trajectory involves 19 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_778", + "trajectory_length": 19, + "key_frame_indices": [ + 0, + 6, + 18 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_778.json" + } + }, + { + "id": "maniskill_PushCube_out_155", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_155/frame_0047.jpg", + "maniskill/PushCube/images/episode_155/frame_0057.jpg", + "maniskill/PushCube/images/episode_155/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.631]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.474, 0.777]). The trajectory involves 31 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_155", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 10, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_155.json" + } + }, + { + "id": "maniskill_PushCube_out_815", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_815/frame_0047.jpg", + "maniskill/PushCube/images/episode_815/frame_0053.jpg", + "maniskill/PushCube/images/episode_815/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.458]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.351, 0.589]). The trajectory involves 21 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_815", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_815.json" + } + }, + { + "id": "maniskill_PushCube_out_3", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_3/frame_0028.jpg", + "maniskill/PushCube/images/episode_3/frame_0058.jpg", + "maniskill/PushCube/images/episode_3/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.418]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.321, 0.546]). The trajectory involves 44 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_3", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 30, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_3.json" + } + }, + { + "id": "maniskill_PushCube_out_742", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_742/frame_0044.jpg", + "maniskill/PushCube/images/episode_742/frame_0050.jpg", + "maniskill/PushCube/images/episode_742/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.480, 0.475]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.488, 0.604]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_742", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_742.json" + } + }, + { + "id": "maniskill_PushCube_out_403", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_403/frame_0044.jpg", + "maniskill/PushCube/images/episode_403/frame_0052.jpg", + "maniskill/PushCube/images/episode_403/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.400, 0.622]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.398, 0.768]). The trajectory involves 28 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_403", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_403.json" + } + }, + { + "id": "maniskill_PushCube_out_654", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_654/frame_0027.jpg", + "maniskill/PushCube/images/episode_654/frame_0052.jpg", + "maniskill/PushCube/images/episode_654/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.443, 0.440]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.451, 0.570]). The trajectory involves 39 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_654", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 25, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_654.json" + } + }, + { + "id": "maniskill_PushCube_out_129", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_129/frame_0043.jpg", + "maniskill/PushCube/images/episode_129/frame_0051.jpg", + "maniskill/PushCube/images/episode_129/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.314, 0.622]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.306, 0.771]). The trajectory involves 28 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_129", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_129.json" + } + }, + { + "id": "maniskill_PushCube_out_883", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_883/frame_0050.jpg", + "maniskill/PushCube/images/episode_883/frame_0056.jpg", + "maniskill/PushCube/images/episode_883/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.462, 0.433]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.464, 0.563]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_883", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_883.json" + } + }, + { + "id": "maniskill_PushCube_out_862", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_862/frame_0046.jpg", + "maniskill/PushCube/images/episode_862/frame_0055.jpg", + "maniskill/PushCube/images/episode_862/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.638]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.306, 0.783]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_862", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_862.json" + } + }, + { + "id": "maniskill_PushCube_out_693", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_693/frame_0044.jpg", + "maniskill/PushCube/images/episode_693/frame_0051.jpg", + "maniskill/PushCube/images/episode_693/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.415, 0.459]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.415, 0.589]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_693", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_693.json" + } + }, + { + "id": "maniskill_PushCube_out_782", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_782/frame_0042.jpg", + "maniskill/PushCube/images/episode_782/frame_0049.jpg", + "maniskill/PushCube/images/episode_782/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.531]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.370, 0.668]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_782", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_782.json" + } + }, + { + "id": "maniskill_PushCube_out_547", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_547/frame_0048.jpg", + "maniskill/PushCube/images/episode_547/frame_0055.jpg", + "maniskill/PushCube/images/episode_547/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.443, 0.440]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.447, 0.569]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_547", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_547.json" + } + }, + { + "id": "maniskill_PushCube_out_714", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_714/frame_0043.jpg", + "maniskill/PushCube/images/episode_714/frame_0051.jpg", + "maniskill/PushCube/images/episode_714/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.603]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.379, 0.751]). The trajectory involves 27 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_714", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_714.json" + } + }, + { + "id": "maniskill_PushCube_out_828", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_828/frame_0046.jpg", + "maniskill/PushCube/images/episode_828/frame_0053.jpg", + "maniskill/PushCube/images/episode_828/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.468, 0.609]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.476, 0.748]). The trajectory involves 24 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_828", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_828.json" + } + }, + { + "id": "maniskill_PushCube_out_69", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_69/frame_0046.jpg", + "maniskill/PushCube/images/episode_69/frame_0053.jpg", + "maniskill/PushCube/images/episode_69/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.369, 0.525]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.364, 0.658]). The trajectory involves 24 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_69", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_69.json" + } + }, + { + "id": "maniskill_PushCube_out_727", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_727/frame_0049.jpg", + "maniskill/PushCube/images/episode_727/frame_0056.jpg", + "maniskill/PushCube/images/episode_727/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.419, 0.418]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.420, 0.547]). The trajectory involves 25 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_727", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_727.json" + } + }, + { + "id": "maniskill_PushCube_out_720", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_720/frame_0048.jpg", + "maniskill/PushCube/images/episode_720/frame_0055.jpg", + "maniskill/PushCube/images/episode_720/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.434]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.373, 0.564]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_720", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_720.json" + } + }, + { + "id": "maniskill_PushCube_out_830", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_830/frame_0041.jpg", + "maniskill/PushCube/images/episode_830/frame_0048.jpg", + "maniskill/PushCube/images/episode_830/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.468, 0.554]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.472, 0.699]). The trajectory involves 27 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_830", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_830.json" + } + }, + { + "id": "maniskill_PushCube_out_898", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_898/frame_0043.jpg", + "maniskill/PushCube/images/episode_898/frame_0052.jpg", + "maniskill/PushCube/images/episode_898/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.425, 0.624]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.770]). The trajectory involves 27 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_898", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_898.json" + } + }, + { + "id": "maniskill_PushCube_out_978", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_978/frame_0044.jpg", + "maniskill/PushCube/images/episode_978/frame_0051.jpg", + "maniskill/PushCube/images/episode_978/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.467, 0.517]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.474, 0.656]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_978", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_978.json" + } + }, + { + "id": "maniskill_PushCube_out_7", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_7/frame_0047.jpg", + "maniskill/PushCube/images/episode_7/frame_0054.jpg", + "maniskill/PushCube/images/episode_7/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.344, 0.532]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.339, 0.670]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_7", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_7.json" + } + }, + { + "id": "maniskill_PushCube_out_328", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_328/frame_0044.jpg", + "maniskill/PushCube/images/episode_328/frame_0054.jpg", + "maniskill/PushCube/images/episode_328/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.425, 0.635]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.782]). The trajectory involves 30 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_328", + "trajectory_length": 30, + "key_frame_indices": [ + 0, + 10, + 29 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_328.json" + } + }, + { + "id": "maniskill_PushCube_out_489", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_489/frame_0047.jpg", + "maniskill/PushCube/images/episode_489/frame_0054.jpg", + "maniskill/PushCube/images/episode_489/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.332, 0.543]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.325, 0.681]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_489", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_489.json" + } + }, + { + "id": "maniskill_PushCube_out_679", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_679/frame_0051.jpg", + "maniskill/PushCube/images/episode_679/frame_0058.jpg", + "maniskill/PushCube/images/episode_679/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.456, 0.444]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.461, 0.572]). The trajectory involves 22 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_679", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_679.json" + } + }, + { + "id": "maniskill_PushCube_out_670", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_670/frame_0048.jpg", + "maniskill/PushCube/images/episode_670/frame_0054.jpg", + "maniskill/PushCube/images/episode_670/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.531]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.670]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_670", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_670.json" + } + }, + { + "id": "maniskill_PushCube_out_923", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_923/frame_0030.jpg", + "maniskill/PushCube/images/episode_923/frame_0055.jpg", + "maniskill/PushCube/images/episode_923/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.402, 0.545]). The trajectory involves 43 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_923", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 25, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_923.json" + } + }, + { + "id": "maniskill_PushCube_out_510", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_510/frame_0040.jpg", + "maniskill/PushCube/images/episode_510/frame_0048.jpg", + "maniskill/PushCube/images/episode_510/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.357, 0.592]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.350, 0.741]). The trajectory involves 27 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_510", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_510.json" + } + }, + { + "id": "maniskill_PushCube_out_972", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_972/frame_0043.jpg", + "maniskill/PushCube/images/episode_972/frame_0050.jpg", + "maniskill/PushCube/images/episode_972/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.383, 0.602]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.380, 0.746]). The trajectory involves 23 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_972", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_972.json" + } + }, + { + "id": "maniskill_PushCube_out_376", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_376/frame_0044.jpg", + "maniskill/PushCube/images/episode_376/frame_0051.jpg", + "maniskill/PushCube/images/episode_376/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.551]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.415, 0.691]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_376", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_376.json" + } + }, + { + "id": "maniskill_PushCube_out_245", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_245/frame_0048.jpg", + "maniskill/PushCube/images/episode_245/frame_0054.jpg", + "maniskill/PushCube/images/episode_245/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.489, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.502, 0.603]). The trajectory involves 20 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_245", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_245.json" + } + }, + { + "id": "maniskill_PushCube_out_390", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_390/frame_0042.jpg", + "maniskill/PushCube/images/episode_390/frame_0049.jpg", + "maniskill/PushCube/images/episode_390/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.590]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.342, 0.728]). The trajectory involves 25 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_390", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_390.json" + } + }, + { + "id": "maniskill_PushCube_out_86", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_86/frame_0044.jpg", + "maniskill/PushCube/images/episode_86/frame_0052.jpg", + "maniskill/PushCube/images/episode_86/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.625]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.351, 0.769]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_86", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_86.json" + } + }, + { + "id": "maniskill_PushCube_out_996", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_996/frame_0045.jpg", + "maniskill/PushCube/images/episode_996/frame_0054.jpg", + "maniskill/PushCube/images/episode_996/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.473, 0.627]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.477, 0.769]). The trajectory involves 27 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_996", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_996.json" + } + }, + { + "id": "maniskill_PushCube_out_232", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_232/frame_0050.jpg", + "maniskill/PushCube/images/episode_232/frame_0058.jpg", + "maniskill/PushCube/images/episode_232/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.486, 0.628]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.497, 0.771]). The trajectory involves 27 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_232", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_232.json" + } + }, + { + "id": "maniskill_PushCube_out_385", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_385/frame_0045.jpg", + "maniskill/PushCube/images/episode_385/frame_0051.jpg", + "maniskill/PushCube/images/episode_385/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.428, 0.512]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.635]). The trajectory involves 20 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_385", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_385.json" + } + }, + { + "id": "maniskill_PushCube_out_947", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_947/frame_0046.jpg", + "maniskill/PushCube/images/episode_947/frame_0053.jpg", + "maniskill/PushCube/images/episode_947/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.435, 0.459]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.436, 0.582]). The trajectory involves 22 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_947", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_947.json" + } + }, + { + "id": "maniskill_PushCube_out_963", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_963/frame_0048.jpg", + "maniskill/PushCube/images/episode_963/frame_0055.jpg", + "maniskill/PushCube/images/episode_963/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.370, 0.445]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.574]). The trajectory involves 22 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_963", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_963.json" + } + }, + { + "id": "maniskill_PushCube_out_391", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_391/frame_0046.jpg", + "maniskill/PushCube/images/episode_391/frame_0053.jpg", + "maniskill/PushCube/images/episode_391/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.429, 0.457]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.430, 0.581]). The trajectory involves 20 precise waypoints with total movement distance of 0.125." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_391", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_391.json" + } + }, + { + "id": "maniskill_PushCube_out_664", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_664/frame_0043.jpg", + "maniskill/PushCube/images/episode_664/frame_0051.jpg", + "maniskill/PushCube/images/episode_664/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.465, 0.585]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.468, 0.730]). The trajectory involves 24 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_664", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_664.json" + } + }, + { + "id": "maniskill_PushCube_out_259", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_259/frame_0047.jpg", + "maniskill/PushCube/images/episode_259/frame_0053.jpg", + "maniskill/PushCube/images/episode_259/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.585]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.333, 0.720]). The trajectory involves 23 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_259", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_259.json" + } + }, + { + "id": "maniskill_PushCube_out_721", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_721/frame_0045.jpg", + "maniskill/PushCube/images/episode_721/frame_0055.jpg", + "maniskill/PushCube/images/episode_721/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.486, 0.636]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.495, 0.783]). The trajectory involves 32 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_721", + "trajectory_length": 32, + "key_frame_indices": [ + 0, + 10, + 31 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_721.json" + } + }, + { + "id": "maniskill_PushCube_out_346", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_346/frame_0042.jpg", + "maniskill/PushCube/images/episode_346/frame_0049.jpg", + "maniskill/PushCube/images/episode_346/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.561]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.385, 0.691]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_346", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_346.json" + } + }, + { + "id": "maniskill_PushCube_out_805", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_805/frame_0042.jpg", + "maniskill/PushCube/images/episode_805/frame_0049.jpg", + "maniskill/PushCube/images/episode_805/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.394, 0.529]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.393, 0.668]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_805", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_805.json" + } + }, + { + "id": "maniskill_PushCube_out_914", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_914/frame_0044.jpg", + "maniskill/PushCube/images/episode_914/frame_0054.jpg", + "maniskill/PushCube/images/episode_914/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.443, 0.638]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.784]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_914", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_914.json" + } + }, + { + "id": "maniskill_PushCube_out_8", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_8/frame_0041.jpg", + "maniskill/PushCube/images/episode_8/frame_0048.jpg", + "maniskill/PushCube/images/episode_8/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.465, 0.546]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.466, 0.686]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_8", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_8.json" + } + }, + { + "id": "maniskill_PushCube_out_240", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_240/frame_0047.jpg", + "maniskill/PushCube/images/episode_240/frame_0053.jpg", + "maniskill/PushCube/images/episode_240/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.319, 0.504]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.309, 0.637]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_240", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_240.json" + } + }, + { + "id": "maniskill_PushCube_out_723", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_723/frame_0042.jpg", + "maniskill/PushCube/images/episode_723/frame_0049.jpg", + "maniskill/PushCube/images/episode_723/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.408, 0.494]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.408, 0.626]). The trajectory involves 21 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_723", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_723.json" + } + }, + { + "id": "maniskill_PushCube_out_587", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_587/frame_0048.jpg", + "maniskill/PushCube/images/episode_587/frame_0054.jpg", + "maniskill/PushCube/images/episode_587/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.400, 0.633]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_587", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_587.json" + } + }, + { + "id": "maniskill_PushCube_out_332", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_332/frame_0056.jpg", + "maniskill/PushCube/images/episode_332/frame_0061.jpg", + "maniskill/PushCube/images/episode_332/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.435]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.364, 0.550]). The trajectory involves 23 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_332", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 5, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_332.json" + } + }, + { + "id": "maniskill_PushCube_out_500", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_500/frame_0050.jpg", + "maniskill/PushCube/images/episode_500/frame_0058.jpg", + "maniskill/PushCube/images/episode_500/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.457, 0.634]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.465, 0.779]). The trajectory involves 27 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_500", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_500.json" + } + }, + { + "id": "maniskill_PushCube_out_649", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_649/frame_0043.jpg", + "maniskill/PushCube/images/episode_649/frame_0053.jpg", + "maniskill/PushCube/images/episode_649/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.391, 0.635]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.384, 0.780]). The trajectory involves 27 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_649", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 10, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_649.json" + } + }, + { + "id": "maniskill_PushCube_out_504", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_504/frame_0042.jpg", + "maniskill/PushCube/images/episode_504/frame_0049.jpg", + "maniskill/PushCube/images/episode_504/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.478, 0.549]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.489, 0.678]). The trajectory involves 22 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_504", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_504.json" + } + }, + { + "id": "maniskill_PushCube_out_662", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_662/frame_0045.jpg", + "maniskill/PushCube/images/episode_662/frame_0052.jpg", + "maniskill/PushCube/images/episode_662/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.468]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.308, 0.599]). The trajectory involves 21 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_662", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_662.json" + } + }, + { + "id": "maniskill_PushCube_out_284", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_284/frame_0043.jpg", + "maniskill/PushCube/images/episode_284/frame_0050.jpg", + "maniskill/PushCube/images/episode_284/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.468, 0.555]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.472, 0.701]). The trajectory involves 27 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_284", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_284.json" + } + }, + { + "id": "maniskill_PushCube_out_272", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_272/frame_0040.jpg", + "maniskill/PushCube/images/episode_272/frame_0047.jpg", + "maniskill/PushCube/images/episode_272/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.368, 0.577]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.364, 0.720]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_272", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_272.json" + } + }, + { + "id": "maniskill_PushCube_out_976", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_976/frame_0048.jpg", + "maniskill/PushCube/images/episode_976/frame_0055.jpg", + "maniskill/PushCube/images/episode_976/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.424]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.366, 0.546]). The trajectory involves 21 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_976", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_976.json" + } + }, + { + "id": "maniskill_PushCube_out_174", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_174/frame_0048.jpg", + "maniskill/PushCube/images/episode_174/frame_0054.jpg", + "maniskill/PushCube/images/episode_174/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.355, 0.479]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.347, 0.610]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_174", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_174.json" + } + }, + { + "id": "maniskill_PushCube_out_289", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_289/frame_0046.jpg", + "maniskill/PushCube/images/episode_289/frame_0052.jpg", + "maniskill/PushCube/images/episode_289/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.602]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.412, 0.740]). The trajectory involves 24 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_289", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 6, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_289.json" + } + }, + { + "id": "maniskill_PushCube_out_529", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_529/frame_0043.jpg", + "maniskill/PushCube/images/episode_529/frame_0050.jpg", + "maniskill/PushCube/images/episode_529/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.490, 0.529]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.495, 0.667]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_529", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_529.json" + } + }, + { + "id": "maniskill_PushCube_out_433", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_433/frame_0048.jpg", + "maniskill/PushCube/images/episode_433/frame_0055.jpg", + "maniskill/PushCube/images/episode_433/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.424, 0.424]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.424, 0.547]). The trajectory involves 18 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_433", + "trajectory_length": 18, + "key_frame_indices": [ + 0, + 7, + 17 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_433.json" + } + }, + { + "id": "maniskill_PushCube_out_184", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_184/frame_0048.jpg", + "maniskill/PushCube/images/episode_184/frame_0055.jpg", + "maniskill/PushCube/images/episode_184/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.426, 0.430]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.423, 0.548]). The trajectory involves 23 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_184", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_184.json" + } + }, + { + "id": "maniskill_PushCube_out_551", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_551/frame_0046.jpg", + "maniskill/PushCube/images/episode_551/frame_0053.jpg", + "maniskill/PushCube/images/episode_551/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.443]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.415, 0.572]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_551", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_551.json" + } + }, + { + "id": "maniskill_PushCube_out_104", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_104/frame_0042.jpg", + "maniskill/PushCube/images/episode_104/frame_0049.jpg", + "maniskill/PushCube/images/episode_104/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.440, 0.559]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.699]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_104", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_104.json" + } + }, + { + "id": "maniskill_PushCube_out_949", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_949/frame_0045.jpg", + "maniskill/PushCube/images/episode_949/frame_0051.jpg", + "maniskill/PushCube/images/episode_949/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.617]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_949", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_949.json" + } + }, + { + "id": "maniskill_PushCube_out_196", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_196/frame_0039.jpg", + "maniskill/PushCube/images/episode_196/frame_0046.jpg", + "maniskill/PushCube/images/episode_196/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.400, 0.545]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.399, 0.685]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_196", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_196.json" + } + }, + { + "id": "maniskill_PushCube_out_65", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_65/frame_0044.jpg", + "maniskill/PushCube/images/episode_65/frame_0051.jpg", + "maniskill/PushCube/images/episode_65/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.579]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.371, 0.723]). The trajectory involves 23 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_65", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_65.json" + } + }, + { + "id": "maniskill_PushCube_out_230", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_230/frame_0044.jpg", + "maniskill/PushCube/images/episode_230/frame_0054.jpg", + "maniskill/PushCube/images/episode_230/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.626]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.770]). The trajectory involves 27 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_230", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 10, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_230.json" + } + }, + { + "id": "maniskill_PushCube_out_197", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_197/frame_0053.jpg", + "maniskill/PushCube/images/episode_197/frame_0058.jpg", + "maniskill/PushCube/images/episode_197/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.450]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.411, 0.580]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_197", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 5, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_197.json" + } + }, + { + "id": "maniskill_PushCube_out_921", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_921/frame_0042.jpg", + "maniskill/PushCube/images/episode_921/frame_0049.jpg", + "maniskill/PushCube/images/episode_921/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.536]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.397, 0.674]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_921", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_921.json" + } + }, + { + "id": "maniskill_PushCube_out_381", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_381/frame_0049.jpg", + "maniskill/PushCube/images/episode_381/frame_0055.jpg", + "maniskill/PushCube/images/episode_381/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.362, 0.587]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.351, 0.728]). The trajectory involves 25 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_381", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 6, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_381.json" + } + }, + { + "id": "maniskill_PushCube_out_128", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_128/frame_0045.jpg", + "maniskill/PushCube/images/episode_128/frame_0052.jpg", + "maniskill/PushCube/images/episode_128/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.303, 0.647]). The trajectory involves 23 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_128", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_128.json" + } + }, + { + "id": "maniskill_PushCube_out_958", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_958/frame_0042.jpg", + "maniskill/PushCube/images/episode_958/frame_0049.jpg", + "maniskill/PushCube/images/episode_958/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.456, 0.496]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.462, 0.635]). The trajectory involves 25 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_958", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_958.json" + } + }, + { + "id": "maniskill_PushCube_out_560", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_560/frame_0047.jpg", + "maniskill/PushCube/images/episode_560/frame_0053.jpg", + "maniskill/PushCube/images/episode_560/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.406, 0.465]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.407, 0.594]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_560", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_560.json" + } + }, + { + "id": "maniskill_PushCube_out_508", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_508/frame_0041.jpg", + "maniskill/PushCube/images/episode_508/frame_0047.jpg", + "maniskill/PushCube/images/episode_508/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.366, 0.486]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.361, 0.618]). The trajectory involves 21 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_508", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_508.json" + } + }, + { + "id": "maniskill_PushCube_out_788", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_788/frame_0043.jpg", + "maniskill/PushCube/images/episode_788/frame_0051.jpg", + "maniskill/PushCube/images/episode_788/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.603]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.357, 0.749]). The trajectory involves 26 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_788", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_788.json" + } + }, + { + "id": "maniskill_PushCube_out_836", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_836/frame_0043.jpg", + "maniskill/PushCube/images/episode_836/frame_0052.jpg", + "maniskill/PushCube/images/episode_836/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.625]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.382, 0.768]). The trajectory involves 28 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_836", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 9, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_836.json" + } + }, + { + "id": "maniskill_PushCube_out_735", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_735/frame_0044.jpg", + "maniskill/PushCube/images/episode_735/frame_0052.jpg", + "maniskill/PushCube/images/episode_735/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.640]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.389, 0.786]). The trajectory involves 27 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_735", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_735.json" + } + }, + { + "id": "maniskill_PushCube_out_143", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_143/frame_0045.jpg", + "maniskill/PushCube/images/episode_143/frame_0052.jpg", + "maniskill/PushCube/images/episode_143/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.432, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.434, 0.665]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_143", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_143.json" + } + }, + { + "id": "maniskill_PushCube_out_908", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_908/frame_0051.jpg", + "maniskill/PushCube/images/episode_908/frame_0057.jpg", + "maniskill/PushCube/images/episode_908/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.458]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.400, 0.571]). The trajectory involves 21 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_908", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_908.json" + } + }, + { + "id": "maniskill_PushCube_out_475", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_475/frame_0029.jpg", + "maniskill/PushCube/images/episode_475/frame_0054.jpg", + "maniskill/PushCube/images/episode_475/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.479, 0.422]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.487, 0.550]). The trajectory involves 40 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_475", + "trajectory_length": 40, + "key_frame_indices": [ + 0, + 25, + 39 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_475.json" + } + }, + { + "id": "maniskill_PushCube_out_944", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_944/frame_0045.jpg", + "maniskill/PushCube/images/episode_944/frame_0052.jpg", + "maniskill/PushCube/images/episode_944/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.474, 0.554]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.487, 0.692]). The trajectory involves 27 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_944", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_944.json" + } + }, + { + "id": "maniskill_PushCube_out_849", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_849/frame_0042.jpg", + "maniskill/PushCube/images/episode_849/frame_0050.jpg", + "maniskill/PushCube/images/episode_849/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.436, 0.583]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.438, 0.728]). The trajectory involves 24 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_849", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_849.json" + } + }, + { + "id": "maniskill_PushCube_out_420", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_420/frame_0047.jpg", + "maniskill/PushCube/images/episode_420/frame_0056.jpg", + "maniskill/PushCube/images/episode_420/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.457, 0.634]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.463, 0.778]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_420", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_420.json" + } + }, + { + "id": "maniskill_PushCube_out_796", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_796/frame_0051.jpg", + "maniskill/PushCube/images/episode_796/frame_0058.jpg", + "maniskill/PushCube/images/episode_796/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.340, 0.648]). The trajectory involves 26 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_796", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_796.json" + } + }, + { + "id": "maniskill_PushCube_out_458", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_458/frame_0043.jpg", + "maniskill/PushCube/images/episode_458/frame_0050.jpg", + "maniskill/PushCube/images/episode_458/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.377, 0.575]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.372, 0.720]). The trajectory involves 24 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_458", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_458.json" + } + }, + { + "id": "maniskill_PushCube_out_481", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_481/frame_0043.jpg", + "maniskill/PushCube/images/episode_481/frame_0051.jpg", + "maniskill/PushCube/images/episode_481/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.610]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.393, 0.753]). The trajectory involves 28 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_481", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_481.json" + } + }, + { + "id": "maniskill_PushCube_out_222", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_222/frame_0052.jpg", + "maniskill/PushCube/images/episode_222/frame_0058.jpg", + "maniskill/PushCube/images/episode_222/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.439]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.374, 0.569]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_222", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_222.json" + } + }, + { + "id": "maniskill_PushCube_out_387", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_387/frame_0041.jpg", + "maniskill/PushCube/images/episode_387/frame_0049.jpg", + "maniskill/PushCube/images/episode_387/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.417, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.633]). The trajectory involves 21 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_387", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 8, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_387.json" + } + }, + { + "id": "maniskill_PushCube_out_647", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_647/frame_0029.jpg", + "maniskill/PushCube/images/episode_647/frame_0053.jpg", + "maniskill/PushCube/images/episode_647/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.322, 0.429]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.310, 0.557]). The trajectory involves 39 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_647", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 24, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_647.json" + } + }, + { + "id": "maniskill_PushCube_out_337", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_337/frame_0048.jpg", + "maniskill/PushCube/images/episode_337/frame_0054.jpg", + "maniskill/PushCube/images/episode_337/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.316, 0.461]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.304, 0.573]). The trajectory involves 20 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_337", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_337.json" + } + }, + { + "id": "maniskill_PushCube_out_208", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_208/frame_0040.jpg", + "maniskill/PushCube/images/episode_208/frame_0047.jpg", + "maniskill/PushCube/images/episode_208/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.430, 0.552]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.697]). The trajectory involves 24 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_208", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_208.json" + } + }, + { + "id": "maniskill_PushCube_out_885", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_885/frame_0039.jpg", + "maniskill/PushCube/images/episode_885/frame_0047.jpg", + "maniskill/PushCube/images/episode_885/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.345, 0.581]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.337, 0.730]). The trajectory involves 27 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_885", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_885.json" + } + }, + { + "id": "maniskill_PushCube_out_498", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_498/frame_0046.jpg", + "maniskill/PushCube/images/episode_498/frame_0053.jpg", + "maniskill/PushCube/images/episode_498/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.525]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.320, 0.657]). The trajectory involves 25 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_498", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_498.json" + } + }, + { + "id": "maniskill_PushCube_out_946", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_946/frame_0052.jpg", + "maniskill/PushCube/images/episode_946/frame_0058.jpg", + "maniskill/PushCube/images/episode_946/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.475, 0.442]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.481, 0.562]). The trajectory involves 21 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_946", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_946.json" + } + }, + { + "id": "maniskill_PushCube_out_640", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_640/frame_0054.jpg", + "maniskill/PushCube/images/episode_640/frame_0060.jpg", + "maniskill/PushCube/images/episode_640/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.379, 0.424]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.369, 0.539]). The trajectory involves 24 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_640", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 6, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_640.json" + } + }, + { + "id": "maniskill_PushCube_out_864", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_864/frame_0049.jpg", + "maniskill/PushCube/images/episode_864/frame_0057.jpg", + "maniskill/PushCube/images/episode_864/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.630]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.388, 0.774]). The trajectory involves 29 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_864", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 8, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_864.json" + } + }, + { + "id": "maniskill_PushCube_out_133", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_133/frame_0045.jpg", + "maniskill/PushCube/images/episode_133/frame_0051.jpg", + "maniskill/PushCube/images/episode_133/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.433, 0.463]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.437, 0.592]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_133", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_133.json" + } + }, + { + "id": "maniskill_PushCube_out_791", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_791/frame_0047.jpg", + "maniskill/PushCube/images/episode_791/frame_0052.jpg", + "maniskill/PushCube/images/episode_791/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.440, 0.475]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.450, 0.588]). The trajectory involves 20 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_791", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 5, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_791.json" + } + }, + { + "id": "maniskill_PushCube_out_413", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_413/frame_0051.jpg", + "maniskill/PushCube/images/episode_413/frame_0057.jpg", + "maniskill/PushCube/images/episode_413/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.377, 0.479]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.370, 0.610]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_413", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_413.json" + } + }, + { + "id": "maniskill_PushCube_out_370", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_370/frame_0046.jpg", + "maniskill/PushCube/images/episode_370/frame_0052.jpg", + "maniskill/PushCube/images/episode_370/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.314, 0.486]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.303, 0.618]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_370", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_370.json" + } + }, + { + "id": "maniskill_PushCube_out_268", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_268/frame_0044.jpg", + "maniskill/PushCube/images/episode_268/frame_0050.jpg", + "maniskill/PushCube/images/episode_268/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.467, 0.505]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.475, 0.644]). The trajectory involves 26 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_268", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 6, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_268.json" + } + }, + { + "id": "maniskill_PushCube_out_759", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_759/frame_0050.jpg", + "maniskill/PushCube/images/episode_759/frame_0058.jpg", + "maniskill/PushCube/images/episode_759/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.437, 0.501]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.439, 0.629]). The trajectory involves 18 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_759", + "trajectory_length": 18, + "key_frame_indices": [ + 0, + 8, + 17 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_759.json" + } + }, + { + "id": "maniskill_PushCube_out_527", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_527/frame_0045.jpg", + "maniskill/PushCube/images/episode_527/frame_0051.jpg", + "maniskill/PushCube/images/episode_527/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.375, 0.479]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.371, 0.610]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_527", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_527.json" + } + }, + { + "id": "maniskill_PushCube_out_394", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_394/frame_0047.jpg", + "maniskill/PushCube/images/episode_394/frame_0054.jpg", + "maniskill/PushCube/images/episode_394/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.470, 0.567]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.478, 0.704]). The trajectory involves 26 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_394", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_394.json" + } + }, + { + "id": "maniskill_PushCube_out_200", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_200/frame_0044.jpg", + "maniskill/PushCube/images/episode_200/frame_0051.jpg", + "maniskill/PushCube/images/episode_200/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.448, 0.463]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.452, 0.592]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_200", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_200.json" + } + }, + { + "id": "maniskill_PushCube_out_724", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_724/frame_0040.jpg", + "maniskill/PushCube/images/episode_724/frame_0047.jpg", + "maniskill/PushCube/images/episode_724/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.421, 0.526]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.421, 0.664]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_724", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_724.json" + } + }, + { + "id": "maniskill_PushCube_out_520", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_520/frame_0045.jpg", + "maniskill/PushCube/images/episode_520/frame_0052.jpg", + "maniskill/PushCube/images/episode_520/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.545]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.398, 0.685]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_520", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_520.json" + } + }, + { + "id": "maniskill_PushCube_out_764", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_764/frame_0045.jpg", + "maniskill/PushCube/images/episode_764/frame_0051.jpg", + "maniskill/PushCube/images/episode_764/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.371, 0.483]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.368, 0.614]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_764", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_764.json" + } + }, + { + "id": "maniskill_PushCube_out_351", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_351/frame_0042.jpg", + "maniskill/PushCube/images/episode_351/frame_0048.jpg", + "maniskill/PushCube/images/episode_351/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.567]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.321, 0.710]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_351", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 6, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_351.json" + } + }, + { + "id": "maniskill_PushCube_out_457", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_457/frame_0039.jpg", + "maniskill/PushCube/images/episode_457/frame_0047.jpg", + "maniskill/PushCube/images/episode_457/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.579]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.376, 0.722]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_457", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_457.json" + } + }, + { + "id": "maniskill_PushCube_out_973", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_973/frame_0029.jpg", + "maniskill/PushCube/images/episode_973/frame_0056.jpg", + "maniskill/PushCube/images/episode_973/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.313, 0.433]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.300, 0.561]). The trajectory involves 42 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_973", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 27, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_973.json" + } + }, + { + "id": "maniskill_PushCube_out_526", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_526/frame_0049.jpg", + "maniskill/PushCube/images/episode_526/frame_0055.jpg", + "maniskill/PushCube/images/episode_526/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.412, 0.585]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.407, 0.723]). The trajectory involves 24 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_526", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 6, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_526.json" + } + }, + { + "id": "maniskill_PushCube_out_56", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_56/frame_0045.jpg", + "maniskill/PushCube/images/episode_56/frame_0051.jpg", + "maniskill/PushCube/images/episode_56/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.373, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.362, 0.648]). The trajectory involves 26 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_56", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 6, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_56.json" + } + }, + { + "id": "maniskill_PushCube_out_636", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_636/frame_0045.jpg", + "maniskill/PushCube/images/episode_636/frame_0052.jpg", + "maniskill/PushCube/images/episode_636/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.420, 0.442]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.421, 0.572]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_636", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_636.json" + } + }, + { + "id": "maniskill_PushCube_out_831", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_831/frame_0044.jpg", + "maniskill/PushCube/images/episode_831/frame_0051.jpg", + "maniskill/PushCube/images/episode_831/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.537]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.400, 0.675]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_831", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_831.json" + } + }, + { + "id": "maniskill_PushCube_out_802", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_802/frame_0043.jpg", + "maniskill/PushCube/images/episode_802/frame_0050.jpg", + "maniskill/PushCube/images/episode_802/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.373, 0.757]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_802", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_802.json" + } + }, + { + "id": "maniskill_PushCube_out_348", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_348/frame_0051.jpg", + "maniskill/PushCube/images/episode_348/frame_0056.jpg", + "maniskill/PushCube/images/episode_348/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.379, 0.457]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.370, 0.571]). The trajectory involves 21 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_348", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 5, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_348.json" + } + }, + { + "id": "maniskill_PushCube_out_445", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_445/frame_0046.jpg", + "maniskill/PushCube/images/episode_445/frame_0052.jpg", + "maniskill/PushCube/images/episode_445/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.339, 0.456]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.332, 0.585]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_445", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_445.json" + } + }, + { + "id": "maniskill_PushCube_out_283", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_283/frame_0045.jpg", + "maniskill/PushCube/images/episode_283/frame_0056.jpg", + "maniskill/PushCube/images/episode_283/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.330, 0.642]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.322, 0.788]). The trajectory involves 31 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_283", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 11, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_283.json" + } + }, + { + "id": "maniskill_PushCube_out_690", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_690/frame_0042.jpg", + "maniskill/PushCube/images/episode_690/frame_0049.jpg", + "maniskill/PushCube/images/episode_690/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.584]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.341, 0.727]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_690", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_690.json" + } + }, + { + "id": "maniskill_PushCube_out_660", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_660/frame_0046.jpg", + "maniskill/PushCube/images/episode_660/frame_0053.jpg", + "maniskill/PushCube/images/episode_660/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.390, 0.443]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.388, 0.573]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_660", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_660.json" + } + }, + { + "id": "maniskill_PushCube_out_33", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_33/frame_0043.jpg", + "maniskill/PushCube/images/episode_33/frame_0051.jpg", + "maniskill/PushCube/images/episode_33/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.325, 0.612]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.315, 0.757]). The trajectory involves 28 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_33", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_33.json" + } + }, + { + "id": "maniskill_PushCube_out_688", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_688/frame_0049.jpg", + "maniskill/PushCube/images/episode_688/frame_0056.jpg", + "maniskill/PushCube/images/episode_688/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.444]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.396, 0.559]). The trajectory involves 23 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_688", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_688.json" + } + }, + { + "id": "maniskill_PushCube_out_577", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_577/frame_0046.jpg", + "maniskill/PushCube/images/episode_577/frame_0055.jpg", + "maniskill/PushCube/images/episode_577/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.643]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.397, 0.789]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_577", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_577.json" + } + }, + { + "id": "maniskill_PushCube_out_992", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_992/frame_0048.jpg", + "maniskill/PushCube/images/episode_992/frame_0054.jpg", + "maniskill/PushCube/images/episode_992/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.350, 0.467]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.340, 0.596]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_992", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_992.json" + } + }, + { + "id": "maniskill_PushCube_out_854", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_854/frame_0045.jpg", + "maniskill/PushCube/images/episode_854/frame_0051.jpg", + "maniskill/PushCube/images/episode_854/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.495]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.385, 0.628]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_854", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_854.json" + } + }, + { + "id": "maniskill_PushCube_out_995", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_995/frame_0042.jpg", + "maniskill/PushCube/images/episode_995/frame_0049.jpg", + "maniskill/PushCube/images/episode_995/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.504]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.391, 0.636]). The trajectory involves 21 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_995", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_995.json" + } + }, + { + "id": "maniskill_PushCube_out_254", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_254/frame_0044.jpg", + "maniskill/PushCube/images/episode_254/frame_0051.jpg", + "maniskill/PushCube/images/episode_254/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.424, 0.562]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.422, 0.704]). The trajectory involves 22 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_254", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_254.json" + } + }, + { + "id": "maniskill_PushCube_out_710", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_710/frame_0043.jpg", + "maniskill/PushCube/images/episode_710/frame_0050.jpg", + "maniskill/PushCube/images/episode_710/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.325, 0.579]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.724]). The trajectory involves 24 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_710", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_710.json" + } + }, + { + "id": "maniskill_PushCube_out_373", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_373/frame_0049.jpg", + "maniskill/PushCube/images/episode_373/frame_0056.jpg", + "maniskill/PushCube/images/episode_373/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.403, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.401, 0.655]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_373", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_373.json" + } + }, + { + "id": "maniskill_PushCube_out_739", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_739/frame_0047.jpg", + "maniskill/PushCube/images/episode_739/frame_0054.jpg", + "maniskill/PushCube/images/episode_739/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.472, 0.534]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.478, 0.673]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_739", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_739.json" + } + }, + { + "id": "maniskill_PushCube_out_82", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_82/frame_0045.jpg", + "maniskill/PushCube/images/episode_82/frame_0054.jpg", + "maniskill/PushCube/images/episode_82/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.377, 0.591]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.374, 0.735]). The trajectory involves 29 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_82", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_82.json" + } + }, + { + "id": "maniskill_PushCube_out_459", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_459/frame_0048.jpg", + "maniskill/PushCube/images/episode_459/frame_0057.jpg", + "maniskill/PushCube/images/episode_459/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.460, 0.628]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.458, 0.772]). The trajectory involves 27 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_459", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_459.json" + } + }, + { + "id": "maniskill_PushCube_out_989", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_989/frame_0028.jpg", + "maniskill/PushCube/images/episode_989/frame_0055.jpg", + "maniskill/PushCube/images/episode_989/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.355, 0.425]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.345, 0.532]). The trajectory involves 36 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_989", + "trajectory_length": 36, + "key_frame_indices": [ + 0, + 27, + 35 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_989.json" + } + }, + { + "id": "maniskill_PushCube_out_683", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_683/frame_0052.jpg", + "maniskill/PushCube/images/episode_683/frame_0058.jpg", + "maniskill/PushCube/images/episode_683/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.429, 0.438]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.431, 0.567]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_683", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_683.json" + } + }, + { + "id": "maniskill_PushCube_out_125", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_125/frame_0045.jpg", + "maniskill/PushCube/images/episode_125/frame_0054.jpg", + "maniskill/PushCube/images/episode_125/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.609]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.372, 0.751]). The trajectory involves 26 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_125", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 9, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_125.json" + } + }, + { + "id": "maniskill_PushCube_out_785", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_785/frame_0043.jpg", + "maniskill/PushCube/images/episode_785/frame_0050.jpg", + "maniskill/PushCube/images/episode_785/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.430, 0.599]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.430, 0.748]). The trajectory involves 25 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_785", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_785.json" + } + }, + { + "id": "maniskill_PushCube_out_303", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_303/frame_0042.jpg", + "maniskill/PushCube/images/episode_303/frame_0052.jpg", + "maniskill/PushCube/images/episode_303/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.483, 0.600]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.487, 0.742]). The trajectory involves 26 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_303", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 10, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_303.json" + } + }, + { + "id": "maniskill_PushCube_out_960", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_960/frame_0045.jpg", + "maniskill/PushCube/images/episode_960/frame_0051.jpg", + "maniskill/PushCube/images/episode_960/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.489, 0.459]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.496, 0.588]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_960", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_960.json" + } + }, + { + "id": "maniskill_PushCube_out_388", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_388/frame_0049.jpg", + "maniskill/PushCube/images/episode_388/frame_0057.jpg", + "maniskill/PushCube/images/episode_388/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.611]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.753]). The trajectory involves 27 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_388", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_388.json" + } + }, + { + "id": "maniskill_PushCube_out_258", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_258/frame_0047.jpg", + "maniskill/PushCube/images/episode_258/frame_0053.jpg", + "maniskill/PushCube/images/episode_258/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.330, 0.499]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.323, 0.632]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_258", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_258.json" + } + }, + { + "id": "maniskill_PushCube_out_48", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_48/frame_0045.jpg", + "maniskill/PushCube/images/episode_48/frame_0052.jpg", + "maniskill/PushCube/images/episode_48/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.319, 0.551]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.314, 0.690]). The trajectory involves 27 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_48", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_48.json" + } + }, + { + "id": "maniskill_PushCube_out_590", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_590/frame_0045.jpg", + "maniskill/PushCube/images/episode_590/frame_0052.jpg", + "maniskill/PushCube/images/episode_590/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.520]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.315, 0.652]). The trajectory involves 26 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_590", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_590.json" + } + }, + { + "id": "maniskill_PushCube_out_415", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_415/frame_0043.jpg", + "maniskill/PushCube/images/episode_415/frame_0053.jpg", + "maniskill/PushCube/images/episode_415/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.344, 0.635]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.335, 0.781]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_415", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_415.json" + } + }, + { + "id": "maniskill_PushCube_out_719", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_719/frame_0043.jpg", + "maniskill/PushCube/images/episode_719/frame_0050.jpg", + "maniskill/PushCube/images/episode_719/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.339, 0.569]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.332, 0.714]). The trajectory involves 25 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_719", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_719.json" + } + }, + { + "id": "maniskill_PushCube_out_67", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_67/frame_0043.jpg", + "maniskill/PushCube/images/episode_67/frame_0050.jpg", + "maniskill/PushCube/images/episode_67/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.459, 0.604]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.463, 0.752]). The trajectory involves 26 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_67", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_67.json" + } + }, + { + "id": "maniskill_PushCube_out_814", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_814/frame_0044.jpg", + "maniskill/PushCube/images/episode_814/frame_0050.jpg", + "maniskill/PushCube/images/episode_814/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.438, 0.461]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.440, 0.590]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_814", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_814.json" + } + }, + { + "id": "maniskill_PushCube_out_465", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_465/frame_0045.jpg", + "maniskill/PushCube/images/episode_465/frame_0051.jpg", + "maniskill/PushCube/images/episode_465/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.334, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.325, 0.601]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_465", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_465.json" + } + }, + { + "id": "maniskill_PushCube_out_47", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_47/frame_0051.jpg", + "maniskill/PushCube/images/episode_47/frame_0058.jpg", + "maniskill/PushCube/images/episode_47/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.426]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.353, 0.538]). The trajectory involves 25 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_47", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_47.json" + } + }, + { + "id": "maniskill_PushCube_out_820", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_820/frame_0042.jpg", + "maniskill/PushCube/images/episode_820/frame_0048.jpg", + "maniskill/PushCube/images/episode_820/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.424, 0.546]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.424, 0.678]). The trajectory involves 22 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_820", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_820.json" + } + }, + { + "id": "maniskill_PushCube_out_443", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_443/frame_0048.jpg", + "maniskill/PushCube/images/episode_443/frame_0056.jpg", + "maniskill/PushCube/images/episode_443/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.626]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.300, 0.771]). The trajectory involves 29 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_443", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 8, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_443.json" + } + }, + { + "id": "maniskill_PushCube_out_473", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_473/frame_0047.jpg", + "maniskill/PushCube/images/episode_473/frame_0057.jpg", + "maniskill/PushCube/images/episode_473/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.497, 0.642]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.511, 0.786]). The trajectory involves 29 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_473", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_473.json" + } + }, + { + "id": "maniskill_PushCube_out_929", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_929/frame_0029.jpg", + "maniskill/PushCube/images/episode_929/frame_0056.jpg", + "maniskill/PushCube/images/episode_929/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.448, 0.418]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.547]). The trajectory involves 41 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_929", + "trajectory_length": 41, + "key_frame_indices": [ + 0, + 27, + 40 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_929.json" + } + }, + { + "id": "maniskill_PushCube_out_839", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_839/frame_0044.jpg", + "maniskill/PushCube/images/episode_839/frame_0052.jpg", + "maniskill/PushCube/images/episode_839/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.407, 0.603]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.409, 0.747]). The trajectory involves 29 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_839", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 8, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_839.json" + } + }, + { + "id": "maniskill_PushCube_out_757", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_757/frame_0043.jpg", + "maniskill/PushCube/images/episode_757/frame_0050.jpg", + "maniskill/PushCube/images/episode_757/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.455, 0.539]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.458, 0.677]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_757", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_757.json" + } + }, + { + "id": "maniskill_PushCube_out_763", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_763/frame_0050.jpg", + "maniskill/PushCube/images/episode_763/frame_0056.jpg", + "maniskill/PushCube/images/episode_763/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.381, 0.456]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.376, 0.585]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_763", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_763.json" + } + }, + { + "id": "maniskill_PushCube_out_638", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_638/frame_0043.jpg", + "maniskill/PushCube/images/episode_638/frame_0053.jpg", + "maniskill/PushCube/images/episode_638/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.436, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.760]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_638", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_638.json" + } + }, + { + "id": "maniskill_PushCube_out_751", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_751/frame_0042.jpg", + "maniskill/PushCube/images/episode_751/frame_0049.jpg", + "maniskill/PushCube/images/episode_751/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.410, 0.589]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.412, 0.726]). The trajectory involves 24 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_751", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_751.json" + } + }, + { + "id": "maniskill_PushCube_out_401", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_401/frame_0046.jpg", + "maniskill/PushCube/images/episode_401/frame_0053.jpg", + "maniskill/PushCube/images/episode_401/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.436, 0.453]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.437, 0.584]). The trajectory involves 22 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_401", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_401.json" + } + }, + { + "id": "maniskill_PushCube_out_621", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_621/frame_0044.jpg", + "maniskill/PushCube/images/episode_621/frame_0053.jpg", + "maniskill/PushCube/images/episode_621/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.428, 0.614]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.760]). The trajectory involves 30 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_621", + "trajectory_length": 30, + "key_frame_indices": [ + 0, + 9, + 29 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_621.json" + } + }, + { + "id": "maniskill_PushCube_out_456", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_456/frame_0044.jpg", + "maniskill/PushCube/images/episode_456/frame_0051.jpg", + "maniskill/PushCube/images/episode_456/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.489, 0.541]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.502, 0.668]). The trajectory involves 22 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_456", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_456.json" + } + }, + { + "id": "maniskill_PushCube_out_511", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_511/frame_0039.jpg", + "maniskill/PushCube/images/episode_511/frame_0047.jpg", + "maniskill/PushCube/images/episode_511/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.452, 0.543]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.688]). The trajectory involves 25 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_511", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_511.json" + } + }, + { + "id": "maniskill_PushCube_out_483", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_483/frame_0031.jpg", + "maniskill/PushCube/images/episode_483/frame_0056.jpg", + "maniskill/PushCube/images/episode_483/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.423]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.397, 0.553]). The trajectory involves 43 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_483", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 25, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_483.json" + } + }, + { + "id": "maniskill_PushCube_out_576", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_576/frame_0048.jpg", + "maniskill/PushCube/images/episode_576/frame_0055.jpg", + "maniskill/PushCube/images/episode_576/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.399, 0.650]). The trajectory involves 26 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_576", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_576.json" + } + }, + { + "id": "maniskill_PushCube_out_347", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_347/frame_0044.jpg", + "maniskill/PushCube/images/episode_347/frame_0051.jpg", + "maniskill/PushCube/images/episode_347/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.415, 0.471]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.413, 0.601]). The trajectory involves 21 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_347", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_347.json" + } + }, + { + "id": "maniskill_PushCube_out_760", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_760/frame_0047.jpg", + "maniskill/PushCube/images/episode_760/frame_0053.jpg", + "maniskill/PushCube/images/episode_760/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.477]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.375, 0.592]). The trajectory involves 20 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_760", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_760.json" + } + }, + { + "id": "maniskill_PushCube_out_984", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_984/frame_0043.jpg", + "maniskill/PushCube/images/episode_984/frame_0051.jpg", + "maniskill/PushCube/images/episode_984/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.463, 0.614]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.467, 0.763]). The trajectory involves 26 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_984", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_984.json" + } + }, + { + "id": "maniskill_PushCube_out_505", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_505/frame_0040.jpg", + "maniskill/PushCube/images/episode_505/frame_0047.jpg", + "maniskill/PushCube/images/episode_505/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.424, 0.585]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.425, 0.729]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_505", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_505.json" + } + }, + { + "id": "maniskill_PushCube_out_183", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_183/frame_0044.jpg", + "maniskill/PushCube/images/episode_183/frame_0051.jpg", + "maniskill/PushCube/images/episode_183/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.492, 0.531]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.506, 0.660]). The trajectory involves 23 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_183", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_183.json" + } + }, + { + "id": "maniskill_PushCube_out_609", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_609/frame_0046.jpg", + "maniskill/PushCube/images/episode_609/frame_0053.jpg", + "maniskill/PushCube/images/episode_609/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.515]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.653]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_609", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_609.json" + } + }, + { + "id": "maniskill_PushCube_out_600", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_600/frame_0049.jpg", + "maniskill/PushCube/images/episode_600/frame_0055.jpg", + "maniskill/PushCube/images/episode_600/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.444, 0.505]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.622]). The trajectory involves 20 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_600", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_600.json" + } + }, + { + "id": "maniskill_PushCube_out_745", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_745/frame_0042.jpg", + "maniskill/PushCube/images/episode_745/frame_0048.jpg", + "maniskill/PushCube/images/episode_745/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.353, 0.518]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.347, 0.658]). The trajectory involves 23 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_745", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_745.json" + } + }, + { + "id": "maniskill_PushCube_out_251", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_251/frame_0043.jpg", + "maniskill/PushCube/images/episode_251/frame_0050.jpg", + "maniskill/PushCube/images/episode_251/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.314, 0.587]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.304, 0.730]). The trajectory involves 23 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_251", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_251.json" + } + }, + { + "id": "maniskill_PushCube_out_89", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_89/frame_0042.jpg", + "maniskill/PushCube/images/episode_89/frame_0052.jpg", + "maniskill/PushCube/images/episode_89/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.494, 0.591]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.501, 0.734]). The trajectory involves 30 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_89", + "trajectory_length": 30, + "key_frame_indices": [ + 0, + 10, + 29 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_89.json" + } + }, + { + "id": "maniskill_PushCube_out_964", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_964/frame_0050.jpg", + "maniskill/PushCube/images/episode_964/frame_0059.jpg", + "maniskill/PushCube/images/episode_964/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.414, 0.637]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.412, 0.784]). The trajectory involves 29 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_964", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_964.json" + } + }, + { + "id": "maniskill_PushCube_out_496", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_496/frame_0042.jpg", + "maniskill/PushCube/images/episode_496/frame_0052.jpg", + "maniskill/PushCube/images/episode_496/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.617]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.327, 0.763]). The trajectory involves 31 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_496", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 10, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_496.json" + } + }, + { + "id": "maniskill_PushCube_out_321", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_321/frame_0040.jpg", + "maniskill/PushCube/images/episode_321/frame_0048.jpg", + "maniskill/PushCube/images/episode_321/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.451, 0.565]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.710]). The trajectory involves 25 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_321", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_321.json" + } + }, + { + "id": "maniskill_PushCube_out_699", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_699/frame_0044.jpg", + "maniskill/PushCube/images/episode_699/frame_0051.jpg", + "maniskill/PushCube/images/episode_699/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.476, 0.509]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.481, 0.648]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_699", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_699.json" + } + }, + { + "id": "maniskill_PushCube_out_435", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_435/frame_0043.jpg", + "maniskill/PushCube/images/episode_435/frame_0051.jpg", + "maniskill/PushCube/images/episode_435/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.369, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.365, 0.761]). The trajectory involves 25 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_435", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_435.json" + } + }, + { + "id": "maniskill_PushCube_out_601", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_601/frame_0048.jpg", + "maniskill/PushCube/images/episode_601/frame_0055.jpg", + "maniskill/PushCube/images/episode_601/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.463, 0.577]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.471, 0.715]). The trajectory involves 26 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_601", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_601.json" + } + }, + { + "id": "maniskill_PushCube_out_604", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_604/frame_0043.jpg", + "maniskill/PushCube/images/episode_604/frame_0051.jpg", + "maniskill/PushCube/images/episode_604/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.627]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.372, 0.778]). The trajectory involves 28 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_604", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_604.json" + } + }, + { + "id": "maniskill_PushCube_out_713", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_713/frame_0043.jpg", + "maniskill/PushCube/images/episode_713/frame_0050.jpg", + "maniskill/PushCube/images/episode_713/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.366, 0.440]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.362, 0.570]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_713", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_713.json" + } + }, + { + "id": "maniskill_PushCube_out_894", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_894/frame_0043.jpg", + "maniskill/PushCube/images/episode_894/frame_0051.jpg", + "maniskill/PushCube/images/episode_894/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.431, 0.594]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.731]). The trajectory involves 23 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_894", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 8, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_894.json" + } + }, + { + "id": "maniskill_PushCube_out_195", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_195/frame_0040.jpg", + "maniskill/PushCube/images/episode_195/frame_0048.jpg", + "maniskill/PushCube/images/episode_195/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.553]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.331, 0.692]). The trajectory involves 23 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_195", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 8, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_195.json" + } + }, + { + "id": "maniskill_PushCube_out_731", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_731/frame_0046.jpg", + "maniskill/PushCube/images/episode_731/frame_0052.jpg", + "maniskill/PushCube/images/episode_731/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.478, 0.486]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.486, 0.602]). The trajectory involves 20 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_731", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_731.json" + } + }, + { + "id": "maniskill_PushCube_out_801", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_801/frame_0047.jpg", + "maniskill/PushCube/images/episode_801/frame_0056.jpg", + "maniskill/PushCube/images/episode_801/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.636]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.341, 0.783]). The trajectory involves 32 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_801", + "trajectory_length": 32, + "key_frame_indices": [ + 0, + 9, + 31 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_801.json" + } + }, + { + "id": "maniskill_PushCube_out_765", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_765/frame_0051.jpg", + "maniskill/PushCube/images/episode_765/frame_0056.jpg", + "maniskill/PushCube/images/episode_765/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.434]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.396, 0.553]). The trajectory involves 23 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_765", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 5, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_765.json" + } + }, + { + "id": "maniskill_PushCube_out_233", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_233/frame_0041.jpg", + "maniskill/PushCube/images/episode_233/frame_0049.jpg", + "maniskill/PushCube/images/episode_233/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.348, 0.614]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.345, 0.759]). The trajectory involves 31 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_233", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 8, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_233.json" + } + }, + { + "id": "maniskill_PushCube_out_468", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_468/frame_0044.jpg", + "maniskill/PushCube/images/episode_468/frame_0051.jpg", + "maniskill/PushCube/images/episode_468/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.352, 0.502]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.346, 0.641]). The trajectory involves 25 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_468", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_468.json" + } + }, + { + "id": "maniskill_PushCube_out_852", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_852/frame_0043.jpg", + "maniskill/PushCube/images/episode_852/frame_0050.jpg", + "maniskill/PushCube/images/episode_852/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.623]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.406, 0.764]). The trajectory involves 25 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_852", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_852.json" + } + }, + { + "id": "maniskill_PushCube_out_641", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_641/frame_0048.jpg", + "maniskill/PushCube/images/episode_641/frame_0055.jpg", + "maniskill/PushCube/images/episode_641/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.439]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.335, 0.553]). The trajectory involves 20 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_641", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_641.json" + } + }, + { + "id": "maniskill_PushCube_out_922", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_922/frame_0046.jpg", + "maniskill/PushCube/images/episode_922/frame_0053.jpg", + "maniskill/PushCube/images/episode_922/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.391, 0.469]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.391, 0.586]). The trajectory involves 21 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_922", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_922.json" + } + }, + { + "id": "maniskill_PushCube_out_431", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_431/frame_0044.jpg", + "maniskill/PushCube/images/episode_431/frame_0054.jpg", + "maniskill/PushCube/images/episode_431/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.369, 0.643]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.369, 0.789]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_431", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_431.json" + } + }, + { + "id": "maniskill_PushCube_out_4", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_4/frame_0044.jpg", + "maniskill/PushCube/images/episode_4/frame_0051.jpg", + "maniskill/PushCube/images/episode_4/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.537]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.411, 0.676]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_4", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_4.json" + } + }, + { + "id": "maniskill_PushCube_out_182", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_182/frame_0043.jpg", + "maniskill/PushCube/images/episode_182/frame_0051.jpg", + "maniskill/PushCube/images/episode_182/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.627]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.305, 0.776]). The trajectory involves 27 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_182", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_182.json" + } + }, + { + "id": "maniskill_PushCube_out_676", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_676/frame_0039.jpg", + "maniskill/PushCube/images/episode_676/frame_0046.jpg", + "maniskill/PushCube/images/episode_676/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.405, 0.546]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.405, 0.685]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_676", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_676.json" + } + }, + { + "id": "maniskill_PushCube_out_927", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_927/frame_0048.jpg", + "maniskill/PushCube/images/episode_927/frame_0054.jpg", + "maniskill/PushCube/images/episode_927/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.468, 0.462]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.474, 0.590]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_927", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_927.json" + } + }, + { + "id": "maniskill_PushCube_out_842", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_842/frame_0050.jpg", + "maniskill/PushCube/images/episode_842/frame_0056.jpg", + "maniskill/PushCube/images/episode_842/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.448, 0.486]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.450, 0.604]). The trajectory involves 19 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_842", + "trajectory_length": 19, + "key_frame_indices": [ + 0, + 6, + 18 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_842.json" + } + }, + { + "id": "maniskill_PushCube_out_799", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_799/frame_0043.jpg", + "maniskill/PushCube/images/episode_799/frame_0053.jpg", + "maniskill/PushCube/images/episode_799/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.400, 0.628]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.403, 0.777]). The trajectory involves 34 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_799", + "trajectory_length": 34, + "key_frame_indices": [ + 0, + 10, + 33 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_799.json" + } + }, + { + "id": "maniskill_PushCube_out_324", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_324/frame_0043.jpg", + "maniskill/PushCube/images/episode_324/frame_0051.jpg", + "maniskill/PushCube/images/episode_324/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.365, 0.624]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.362, 0.775]). The trajectory involves 28 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_324", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_324.json" + } + }, + { + "id": "maniskill_PushCube_out_678", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_678/frame_0050.jpg", + "maniskill/PushCube/images/episode_678/frame_0057.jpg", + "maniskill/PushCube/images/episode_678/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.343, 0.435]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.335, 0.563]). The trajectory involves 21 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_678", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_678.json" + } + }, + { + "id": "maniskill_PushCube_out_689", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_689/frame_0052.jpg", + "maniskill/PushCube/images/episode_689/frame_0058.jpg", + "maniskill/PushCube/images/episode_689/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.351, 0.432]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.344, 0.561]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_689", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_689.json" + } + }, + { + "id": "maniskill_PushCube_out_810", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_810/frame_0047.jpg", + "maniskill/PushCube/images/episode_810/frame_0053.jpg", + "maniskill/PushCube/images/episode_810/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.345, 0.475]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.337, 0.589]). The trajectory involves 20 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_810", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_810.json" + } + }, + { + "id": "maniskill_PushCube_out_422", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_422/frame_0040.jpg", + "maniskill/PushCube/images/episode_422/frame_0047.jpg", + "maniskill/PushCube/images/episode_422/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.568]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.711]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_422", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_422.json" + } + }, + { + "id": "maniskill_PushCube_out_472", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_472/frame_0049.jpg", + "maniskill/PushCube/images/episode_472/frame_0055.jpg", + "maniskill/PushCube/images/episode_472/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.407, 0.496]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.406, 0.628]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_472", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_472.json" + } + }, + { + "id": "maniskill_PushCube_out_994", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_994/frame_0050.jpg", + "maniskill/PushCube/images/episode_994/frame_0056.jpg", + "maniskill/PushCube/images/episode_994/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.455]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.321, 0.583]). The trajectory involves 20 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_994", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_994.json" + } + }, + { + "id": "maniskill_PushCube_out_938", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_938/frame_0047.jpg", + "maniskill/PushCube/images/episode_938/frame_0054.jpg", + "maniskill/PushCube/images/episode_938/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.414, 0.507]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.413, 0.646]). The trajectory involves 26 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_938", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_938.json" + } + }, + { + "id": "maniskill_PushCube_out_22", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_22/frame_0046.jpg", + "maniskill/PushCube/images/episode_22/frame_0053.jpg", + "maniskill/PushCube/images/episode_22/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.508]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.356, 0.647]). The trajectory involves 25 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_22", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_22.json" + } + }, + { + "id": "maniskill_PushCube_out_642", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_642/frame_0047.jpg", + "maniskill/PushCube/images/episode_642/frame_0056.jpg", + "maniskill/PushCube/images/episode_642/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.330, 0.635]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.328, 0.781]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_642", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_642.json" + } + }, + { + "id": "maniskill_PushCube_out_585", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_585/frame_0041.jpg", + "maniskill/PushCube/images/episode_585/frame_0048.jpg", + "maniskill/PushCube/images/episode_585/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.547]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.359, 0.686]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_585", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_585.json" + } + }, + { + "id": "maniskill_PushCube_out_669", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_669/frame_0044.jpg", + "maniskill/PushCube/images/episode_669/frame_0051.jpg", + "maniskill/PushCube/images/episode_669/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.369, 0.664]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_669", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_669.json" + } + }, + { + "id": "maniskill_PushCube_out_281", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_281/frame_0039.jpg", + "maniskill/PushCube/images/episode_281/frame_0046.jpg", + "maniskill/PushCube/images/episode_281/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.419, 0.550]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.421, 0.690]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_281", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_281.json" + } + }, + { + "id": "maniskill_PushCube_out_444", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_444/frame_0043.jpg", + "maniskill/PushCube/images/episode_444/frame_0050.jpg", + "maniskill/PushCube/images/episode_444/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.488, 0.502]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.496, 0.641]). The trajectory involves 26 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_444", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_444.json" + } + }, + { + "id": "maniskill_PushCube_out_212", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_212/frame_0047.jpg", + "maniskill/PushCube/images/episode_212/frame_0054.jpg", + "maniskill/PushCube/images/episode_212/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.410, 0.440]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.410, 0.569]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_212", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_212.json" + } + }, + { + "id": "maniskill_PushCube_out_936", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_936/frame_0043.jpg", + "maniskill/PushCube/images/episode_936/frame_0050.jpg", + "maniskill/PushCube/images/episode_936/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.442, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.650]). The trajectory involves 26 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_936", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_936.json" + } + }, + { + "id": "maniskill_PushCube_out_255", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_255/frame_0046.jpg", + "maniskill/PushCube/images/episode_255/frame_0053.jpg", + "maniskill/PushCube/images/episode_255/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.365, 0.569]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.366, 0.709]). The trajectory involves 27 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_255", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_255.json" + } + }, + { + "id": "maniskill_PushCube_out_238", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_238/frame_0047.jpg", + "maniskill/PushCube/images/episode_238/frame_0053.jpg", + "maniskill/PushCube/images/episode_238/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.438, 0.475]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.441, 0.596]). The trajectory involves 20 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_238", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_238.json" + } + }, + { + "id": "maniskill_PushCube_out_806", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_806/frame_0044.jpg", + "maniskill/PushCube/images/episode_806/frame_0054.jpg", + "maniskill/PushCube/images/episode_806/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.641]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.415, 0.788]). The trajectory involves 31 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_806", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 10, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_806.json" + } + }, + { + "id": "maniskill_PushCube_out_148", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_148/frame_0028.jpg", + "maniskill/PushCube/images/episode_148/frame_0052.jpg", + "maniskill/PushCube/images/episode_148/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.431]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.416, 0.559]). The trajectory involves 39 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_148", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 24, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_148.json" + } + }, + { + "id": "maniskill_PushCube_out_100", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_100/frame_0042.jpg", + "maniskill/PushCube/images/episode_100/frame_0049.jpg", + "maniskill/PushCube/images/episode_100/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.368, 0.552]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.363, 0.681]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_100", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_100.json" + } + }, + { + "id": "maniskill_PushCube_out_322", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_322/frame_0048.jpg", + "maniskill/PushCube/images/episode_322/frame_0055.jpg", + "maniskill/PushCube/images/episode_322/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.371, 0.438]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.558]). The trajectory involves 24 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_322", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_322.json" + } + }, + { + "id": "maniskill_PushCube_out_934", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_934/frame_0046.jpg", + "maniskill/PushCube/images/episode_934/frame_0053.jpg", + "maniskill/PushCube/images/episode_934/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.310, 0.494]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.301, 0.632]). The trajectory involves 26 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_934", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_934.json" + } + }, + { + "id": "maniskill_PushCube_out_211", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_211/frame_0046.jpg", + "maniskill/PushCube/images/episode_211/frame_0052.jpg", + "maniskill/PushCube/images/episode_211/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.502]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.393, 0.635]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_211", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_211.json" + } + }, + { + "id": "maniskill_PushCube_out_439", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_439/frame_0044.jpg", + "maniskill/PushCube/images/episode_439/frame_0051.jpg", + "maniskill/PushCube/images/episode_439/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.546]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.310, 0.686]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_439", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_439.json" + } + }, + { + "id": "maniskill_PushCube_out_115", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_115/frame_0043.jpg", + "maniskill/PushCube/images/episode_115/frame_0050.jpg", + "maniskill/PushCube/images/episode_115/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.484]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.340, 0.615]). The trajectory involves 21 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_115", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_115.json" + } + }, + { + "id": "maniskill_PushCube_out_524", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_524/frame_0042.jpg", + "maniskill/PushCube/images/episode_524/frame_0049.jpg", + "maniskill/PushCube/images/episode_524/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.494, 0.573]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.502, 0.717]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_524", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_524.json" + } + }, + { + "id": "maniskill_PushCube_out_525", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_525/frame_0029.jpg", + "maniskill/PushCube/images/episode_525/frame_0058.jpg", + "maniskill/PushCube/images/episode_525/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.425]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.384, 0.553]). The trajectory involves 44 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_525", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 29, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_525.json" + } + }, + { + "id": "maniskill_PushCube_out_136", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_136/frame_0044.jpg", + "maniskill/PushCube/images/episode_136/frame_0051.jpg", + "maniskill/PushCube/images/episode_136/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.465, 0.567]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.705]). The trajectory involves 25 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_136", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_136.json" + } + }, + { + "id": "maniskill_PushCube_out_178", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_178/frame_0045.jpg", + "maniskill/PushCube/images/episode_178/frame_0052.jpg", + "maniskill/PushCube/images/episode_178/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.351, 0.502]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.346, 0.620]). The trajectory involves 20 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_178", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_178.json" + } + }, + { + "id": "maniskill_PushCube_out_602", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_602/frame_0039.jpg", + "maniskill/PushCube/images/episode_602/frame_0047.jpg", + "maniskill/PushCube/images/episode_602/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.432, 0.577]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.434, 0.720]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_602", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_602.json" + } + }, + { + "id": "maniskill_PushCube_out_871", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_871/frame_0047.jpg", + "maniskill/PushCube/images/episode_871/frame_0054.jpg", + "maniskill/PushCube/images/episode_871/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.356, 0.449]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.350, 0.578]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_871", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_871.json" + } + }, + { + "id": "maniskill_PushCube_out_651", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_651/frame_0030.jpg", + "maniskill/PushCube/images/episode_651/frame_0055.jpg", + "maniskill/PushCube/images/episode_651/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.442, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.446, 0.558]). The trajectory involves 43 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_651", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 25, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_651.json" + } + }, + { + "id": "maniskill_PushCube_out_515", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_515/frame_0044.jpg", + "maniskill/PushCube/images/episode_515/frame_0051.jpg", + "maniskill/PushCube/images/episode_515/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.433, 0.564]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.435, 0.708]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_515", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_515.json" + } + }, + { + "id": "maniskill_PushCube_out_860", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_860/frame_0049.jpg", + "maniskill/PushCube/images/episode_860/frame_0055.jpg", + "maniskill/PushCube/images/episode_860/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.377, 0.462]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.373, 0.591]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_860", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_860.json" + } + }, + { + "id": "maniskill_PushCube_out_360", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_360/frame_0048.jpg", + "maniskill/PushCube/images/episode_360/frame_0054.jpg", + "maniskill/PushCube/images/episode_360/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.463]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.348, 0.582]). The trajectory involves 20 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_360", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_360.json" + } + }, + { + "id": "maniskill_PushCube_out_359", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_359/frame_0043.jpg", + "maniskill/PushCube/images/episode_359/frame_0050.jpg", + "maniskill/PushCube/images/episode_359/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.417, 0.604]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.754]). The trajectory involves 26 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_359", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_359.json" + } + }, + { + "id": "maniskill_PushCube_out_702", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_702/frame_0046.jpg", + "maniskill/PushCube/images/episode_702/frame_0052.jpg", + "maniskill/PushCube/images/episode_702/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.453]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.384, 0.582]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_702", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_702.json" + } + }, + { + "id": "maniskill_PushCube_out_797", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_797/frame_0044.jpg", + "maniskill/PushCube/images/episode_797/frame_0051.jpg", + "maniskill/PushCube/images/episode_797/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.599]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.445, 0.736]). The trajectory involves 24 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_797", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_797.json" + } + }, + { + "id": "maniskill_PushCube_out_127", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_127/frame_0048.jpg", + "maniskill/PushCube/images/episode_127/frame_0054.jpg", + "maniskill/PushCube/images/episode_127/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.394, 0.470]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.391, 0.600]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_127", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_127.json" + } + }, + { + "id": "maniskill_PushCube_out_643", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_643/frame_0043.jpg", + "maniskill/PushCube/images/episode_643/frame_0051.jpg", + "maniskill/PushCube/images/episode_643/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.463, 0.614]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.473, 0.755]). The trajectory involves 25 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_643", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_643.json" + } + }, + { + "id": "maniskill_PushCube_out_59", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_59/frame_0048.jpg", + "maniskill/PushCube/images/episode_59/frame_0055.jpg", + "maniskill/PushCube/images/episode_59/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.430]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.454, 0.549]). The trajectory involves 21 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_59", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_59.json" + } + }, + { + "id": "maniskill_PushCube_out_703", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_703/frame_0041.jpg", + "maniskill/PushCube/images/episode_703/frame_0048.jpg", + "maniskill/PushCube/images/episode_703/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.494]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.358, 0.627]). The trajectory involves 21 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_703", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_703.json" + } + }, + { + "id": "maniskill_PushCube_out_50", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_50/frame_0043.jpg", + "maniskill/PushCube/images/episode_50/frame_0050.jpg", + "maniskill/PushCube/images/episode_50/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.454, 0.574]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.457, 0.719]). The trajectory involves 25 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_50", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_50.json" + } + }, + { + "id": "maniskill_PushCube_out_152", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_152/frame_0049.jpg", + "maniskill/PushCube/images/episode_152/frame_0055.jpg", + "maniskill/PushCube/images/episode_152/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.436, 0.477]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.438, 0.607]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_152", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_152.json" + } + }, + { + "id": "maniskill_PushCube_out_968", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_968/frame_0039.jpg", + "maniskill/PushCube/images/episode_968/frame_0047.jpg", + "maniskill/PushCube/images/episode_968/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.346, 0.559]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.339, 0.702]). The trajectory involves 25 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_968", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_968.json" + } + }, + { + "id": "maniskill_PushCube_out_534", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_534/frame_0049.jpg", + "maniskill/PushCube/images/episode_534/frame_0056.jpg", + "maniskill/PushCube/images/episode_534/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.351, 0.436]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.342, 0.554]). The trajectory involves 24 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_534", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_534.json" + } + }, + { + "id": "maniskill_PushCube_out_57", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_57/frame_0040.jpg", + "maniskill/PushCube/images/episode_57/frame_0047.jpg", + "maniskill/PushCube/images/episode_57/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.490, 0.536]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.496, 0.675]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_57", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_57.json" + } + }, + { + "id": "maniskill_PushCube_out_632", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_632/frame_0049.jpg", + "maniskill/PushCube/images/episode_632/frame_0056.jpg", + "maniskill/PushCube/images/episode_632/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.507]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.646]). The trajectory involves 26 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_632", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_632.json" + } + }, + { + "id": "maniskill_PushCube_out_53", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_53/frame_0046.jpg", + "maniskill/PushCube/images/episode_53/frame_0053.jpg", + "maniskill/PushCube/images/episode_53/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.484, 0.603]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.493, 0.742]). The trajectory involves 25 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_53", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_53.json" + } + }, + { + "id": "maniskill_PushCube_out_26", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_26/frame_0045.jpg", + "maniskill/PushCube/images/episode_26/frame_0055.jpg", + "maniskill/PushCube/images/episode_26/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.318, 0.641]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.313, 0.784]). The trajectory involves 29 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_26", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_26.json" + } + }, + { + "id": "maniskill_PushCube_out_179", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_179/frame_0040.jpg", + "maniskill/PushCube/images/episode_179/frame_0049.jpg", + "maniskill/PushCube/images/episode_179/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.357, 0.589]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.353, 0.737]). The trajectory involves 27 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_179", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_179.json" + } + }, + { + "id": "maniskill_PushCube_out_333", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_333/frame_0048.jpg", + "maniskill/PushCube/images/episode_333/frame_0054.jpg", + "maniskill/PushCube/images/episode_333/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.333, 0.602]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_333", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_333.json" + } + }, + { + "id": "maniskill_PushCube_out_339", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_339/frame_0050.jpg", + "maniskill/PushCube/images/episode_339/frame_0058.jpg", + "maniskill/PushCube/images/episode_339/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.636]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.355, 0.782]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_339", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 8, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_339.json" + } + }, + { + "id": "maniskill_PushCube_out_151", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_151/frame_0049.jpg", + "maniskill/PushCube/images/episode_151/frame_0057.jpg", + "maniskill/PushCube/images/episode_151/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.639]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.364, 0.783]). The trajectory involves 27 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_151", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_151.json" + } + }, + { + "id": "maniskill_PushCube_out_900", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_900/frame_0043.jpg", + "maniskill/PushCube/images/episode_900/frame_0050.jpg", + "maniskill/PushCube/images/episode_900/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.512]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.358, 0.651]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_900", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_900.json" + } + }, + { + "id": "maniskill_PushCube_out_705", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_705/frame_0045.jpg", + "maniskill/PushCube/images/episode_705/frame_0051.jpg", + "maniskill/PushCube/images/episode_705/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.436, 0.508]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.436, 0.649]). The trajectory involves 26 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_705", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 6, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_705.json" + } + }, + { + "id": "maniskill_PushCube_out_299", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_299/frame_0030.jpg", + "maniskill/PushCube/images/episode_299/frame_0055.jpg", + "maniskill/PushCube/images/episode_299/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.335, 0.425]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.325, 0.546]). The trajectory involves 39 precise waypoints with total movement distance of 0.126." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_299", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 25, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_299.json" + } + }, + { + "id": "maniskill_PushCube_out_446", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_446/frame_0044.jpg", + "maniskill/PushCube/images/episode_446/frame_0051.jpg", + "maniskill/PushCube/images/episode_446/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.406, 0.531]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.405, 0.669]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_446", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_446.json" + } + }, + { + "id": "maniskill_PushCube_out_37", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_37/frame_0049.jpg", + "maniskill/PushCube/images/episode_37/frame_0055.jpg", + "maniskill/PushCube/images/episode_37/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.425, 0.524]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.656]). The trajectory involves 25 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_37", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 6, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_37.json" + } + }, + { + "id": "maniskill_PushCube_out_5", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_5/frame_0047.jpg", + "maniskill/PushCube/images/episode_5/frame_0054.jpg", + "maniskill/PushCube/images/episode_5/frame_0076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.328, 0.602]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.328, 0.744]). The trajectory involves 30 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_5", + "trajectory_length": 30, + "key_frame_indices": [ + 0, + 7, + 29 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_5.json" + } + }, + { + "id": "maniskill_PushCube_out_189", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_189/frame_0044.jpg", + "maniskill/PushCube/images/episode_189/frame_0052.jpg", + "maniskill/PushCube/images/episode_189/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.473, 0.621]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.477, 0.770]). The trajectory involves 25 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_189", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_189.json" + } + }, + { + "id": "maniskill_PushCube_out_72", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_72/frame_0043.jpg", + "maniskill/PushCube/images/episode_72/frame_0050.jpg", + "maniskill/PushCube/images/episode_72/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.433, 0.586]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.435, 0.730]). The trajectory involves 23 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_72", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_72.json" + } + }, + { + "id": "maniskill_PushCube_out_793", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_793/frame_0045.jpg", + "maniskill/PushCube/images/episode_793/frame_0052.jpg", + "maniskill/PushCube/images/episode_793/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.569]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.371, 0.707]). The trajectory involves 25 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_793", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_793.json" + } + }, + { + "id": "maniskill_PushCube_out_725", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_725/frame_0044.jpg", + "maniskill/PushCube/images/episode_725/frame_0051.jpg", + "maniskill/PushCube/images/episode_725/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.417, 0.561]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.707]). The trajectory involves 27 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_725", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_725.json" + } + }, + { + "id": "maniskill_PushCube_out_589", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_589/frame_0045.jpg", + "maniskill/PushCube/images/episode_589/frame_0051.jpg", + "maniskill/PushCube/images/episode_589/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.453, 0.477]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.459, 0.606]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_589", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_589.json" + } + }, + { + "id": "maniskill_PushCube_out_668", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_668/frame_0047.jpg", + "maniskill/PushCube/images/episode_668/frame_0053.jpg", + "maniskill/PushCube/images/episode_668/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.366, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.362, 0.618]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_668", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_668.json" + } + }, + { + "id": "maniskill_PushCube_out_150", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_150/frame_0043.jpg", + "maniskill/PushCube/images/episode_150/frame_0050.jpg", + "maniskill/PushCube/images/episode_150/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.367, 0.597]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.363, 0.742]). The trajectory involves 24 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_150", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_150.json" + } + }, + { + "id": "maniskill_PushCube_out_886", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_886/frame_0057.jpg", + "maniskill/PushCube/images/episode_886/frame_0062.jpg", + "maniskill/PushCube/images/episode_886/frame_0079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.344, 0.424]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.339, 0.534]). The trajectory involves 23 precise waypoints with total movement distance of 0.112." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_886", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 5, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_886.json" + } + }, + { + "id": "maniskill_PushCube_out_494", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_494/frame_0041.jpg", + "maniskill/PushCube/images/episode_494/frame_0049.jpg", + "maniskill/PushCube/images/episode_494/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.486, 0.584]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.493, 0.731]). The trajectory involves 26 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_494", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_494.json" + } + }, + { + "id": "maniskill_PushCube_out_623", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_623/frame_0040.jpg", + "maniskill/PushCube/images/episode_623/frame_0047.jpg", + "maniskill/PushCube/images/episode_623/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.438, 0.587]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.438, 0.731]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_623", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_623.json" + } + }, + { + "id": "maniskill_PushCube_out_71", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_71/frame_0041.jpg", + "maniskill/PushCube/images/episode_71/frame_0048.jpg", + "maniskill/PushCube/images/episode_71/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.337, 0.530]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.330, 0.668]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_71", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_71.json" + } + }, + { + "id": "maniskill_PushCube_out_768", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_768/frame_0040.jpg", + "maniskill/PushCube/images/episode_768/frame_0047.jpg", + "maniskill/PushCube/images/episode_768/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.526]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.399, 0.664]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_768", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_768.json" + } + }, + { + "id": "maniskill_PushCube_out_224", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_224/frame_0046.jpg", + "maniskill/PushCube/images/episode_224/frame_0053.jpg", + "maniskill/PushCube/images/episode_224/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.423, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.653]). The trajectory involves 25 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_224", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_224.json" + } + }, + { + "id": "maniskill_PushCube_out_803", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_803/frame_0043.jpg", + "maniskill/PushCube/images/episode_803/frame_0050.jpg", + "maniskill/PushCube/images/episode_803/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.595]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.410, 0.741]). The trajectory involves 23 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_803", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_803.json" + } + }, + { + "id": "maniskill_PushCube_out_686", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_686/frame_0042.jpg", + "maniskill/PushCube/images/episode_686/frame_0049.jpg", + "maniskill/PushCube/images/episode_686/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.565]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.371, 0.711]). The trajectory involves 28 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_686", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 7, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_686.json" + } + }, + { + "id": "maniskill_PushCube_out_569", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_569/frame_0040.jpg", + "maniskill/PushCube/images/episode_569/frame_0047.jpg", + "maniskill/PushCube/images/episode_569/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.418, 0.536]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.675]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_569", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_569.json" + } + }, + { + "id": "maniskill_PushCube_out_252", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_252/frame_0044.jpg", + "maniskill/PushCube/images/episode_252/frame_0051.jpg", + "maniskill/PushCube/images/episode_252/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.420, 0.575]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.423, 0.712]). The trajectory involves 25 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_252", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_252.json" + } + }, + { + "id": "maniskill_PushCube_out_969", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_969/frame_0044.jpg", + "maniskill/PushCube/images/episode_969/frame_0051.jpg", + "maniskill/PushCube/images/episode_969/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.555]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.382, 0.695]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_969", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_969.json" + } + }, + { + "id": "maniskill_PushCube_out_215", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_215/frame_0046.jpg", + "maniskill/PushCube/images/episode_215/frame_0053.jpg", + "maniskill/PushCube/images/episode_215/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.410, 0.653]). The trajectory involves 26 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_215", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_215.json" + } + }, + { + "id": "maniskill_PushCube_out_675", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_675/frame_0046.jpg", + "maniskill/PushCube/images/episode_675/frame_0053.jpg", + "maniskill/PushCube/images/episode_675/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.410, 0.564]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.413, 0.695]). The trajectory involves 23 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_675", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_675.json" + } + }, + { + "id": "maniskill_PushCube_out_880", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_880/frame_0046.jpg", + "maniskill/PushCube/images/episode_880/frame_0052.jpg", + "maniskill/PushCube/images/episode_880/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.448, 0.443]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.572]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_880", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_880.json" + } + }, + { + "id": "maniskill_PushCube_out_903", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_903/frame_0046.jpg", + "maniskill/PushCube/images/episode_903/frame_0053.jpg", + "maniskill/PushCube/images/episode_903/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.368, 0.456]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.363, 0.586]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_903", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_903.json" + } + }, + { + "id": "maniskill_PushCube_out_674", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_674/frame_0042.jpg", + "maniskill/PushCube/images/episode_674/frame_0049.jpg", + "maniskill/PushCube/images/episode_674/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.318, 0.596]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.311, 0.742]). The trajectory involves 26 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_674", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_674.json" + } + }, + { + "id": "maniskill_PushCube_out_199", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_199/frame_0028.jpg", + "maniskill/PushCube/images/episode_199/frame_0052.jpg", + "maniskill/PushCube/images/episode_199/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.455, 0.430]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.458, 0.559]). The trajectory involves 40 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_199", + "trajectory_length": 40, + "key_frame_indices": [ + 0, + 24, + 39 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_199.json" + } + }, + { + "id": "maniskill_PushCube_out_44", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_44/frame_0042.jpg", + "maniskill/PushCube/images/episode_44/frame_0049.jpg", + "maniskill/PushCube/images/episode_44/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.561]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.312, 0.696]). The trajectory involves 25 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_44", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_44.json" + } + }, + { + "id": "maniskill_PushCube_out_123", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_123/frame_0043.jpg", + "maniskill/PushCube/images/episode_123/frame_0053.jpg", + "maniskill/PushCube/images/episode_123/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.460, 0.625]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.466, 0.771]). The trajectory involves 31 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_123", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 10, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_123.json" + } + }, + { + "id": "maniskill_PushCube_out_52", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_52/frame_0042.jpg", + "maniskill/PushCube/images/episode_52/frame_0049.jpg", + "maniskill/PushCube/images/episode_52/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.427, 0.539]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.427, 0.678]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_52", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_52.json" + } + }, + { + "id": "maniskill_PushCube_out_92", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_92/frame_0047.jpg", + "maniskill/PushCube/images/episode_92/frame_0054.jpg", + "maniskill/PushCube/images/episode_92/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.541]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.327, 0.679]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_92", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_92.json" + } + }, + { + "id": "maniskill_PushCube_out_410", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_410/frame_0044.jpg", + "maniskill/PushCube/images/episode_410/frame_0051.jpg", + "maniskill/PushCube/images/episode_410/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.487, 0.476]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.495, 0.606]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_410", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_410.json" + } + }, + { + "id": "maniskill_PushCube_out_32", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_32/frame_0042.jpg", + "maniskill/PushCube/images/episode_32/frame_0049.jpg", + "maniskill/PushCube/images/episode_32/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.551]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.409, 0.691]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_32", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_32.json" + } + }, + { + "id": "maniskill_PushCube_out_497", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_497/frame_0045.jpg", + "maniskill/PushCube/images/episode_497/frame_0051.jpg", + "maniskill/PushCube/images/episode_497/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.483]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.613]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_497", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_497.json" + } + }, + { + "id": "maniskill_PushCube_out_490", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_490/frame_0055.jpg", + "maniskill/PushCube/images/episode_490/frame_0060.jpg", + "maniskill/PushCube/images/episode_490/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.336, 0.443]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.326, 0.555]). The trajectory involves 21 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_490", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 5, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_490.json" + } + }, + { + "id": "maniskill_PushCube_out_872", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_872/frame_0042.jpg", + "maniskill/PushCube/images/episode_872/frame_0049.jpg", + "maniskill/PushCube/images/episode_872/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.451, 0.513]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.651]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_872", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_872.json" + } + }, + { + "id": "maniskill_PushCube_out_536", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_536/frame_0044.jpg", + "maniskill/PushCube/images/episode_536/frame_0050.jpg", + "maniskill/PushCube/images/episode_536/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.381, 0.441]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.375, 0.571]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_536", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_536.json" + } + }, + { + "id": "maniskill_PushCube_out_118", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_118/frame_0043.jpg", + "maniskill/PushCube/images/episode_118/frame_0049.jpg", + "maniskill/PushCube/images/episode_118/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.410, 0.524]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.409, 0.663]). The trajectory involves 23 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_118", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_118.json" + } + }, + { + "id": "maniskill_PushCube_out_628", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_628/frame_0051.jpg", + "maniskill/PushCube/images/episode_628/frame_0058.jpg", + "maniskill/PushCube/images/episode_628/frame_0074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.410, 0.444]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.413, 0.561]). The trajectory involves 24 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_628", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_628.json" + } + }, + { + "id": "maniskill_PushCube_out_607", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_607/frame_0048.jpg", + "maniskill/PushCube/images/episode_607/frame_0055.jpg", + "maniskill/PushCube/images/episode_607/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.470, 0.518]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.476, 0.656]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_607", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_607.json" + } + }, + { + "id": "maniskill_PushCube_out_861", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_861/frame_0050.jpg", + "maniskill/PushCube/images/episode_861/frame_0056.jpg", + "maniskill/PushCube/images/episode_861/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.449, 0.474]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.604]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_861", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_861.json" + } + }, + { + "id": "maniskill_PushCube_out_970", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_970/frame_0044.jpg", + "maniskill/PushCube/images/episode_970/frame_0052.jpg", + "maniskill/PushCube/images/episode_970/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.370, 0.627]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.365, 0.778]). The trajectory involves 27 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_970", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_970.json" + } + }, + { + "id": "maniskill_PushCube_out_51", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_51/frame_0045.jpg", + "maniskill/PushCube/images/episode_51/frame_0052.jpg", + "maniskill/PushCube/images/episode_51/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.581]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.458, 0.716]). The trajectory involves 24 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_51", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_51.json" + } + }, + { + "id": "maniskill_PushCube_out_28", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_28/frame_0043.jpg", + "maniskill/PushCube/images/episode_28/frame_0050.jpg", + "maniskill/PushCube/images/episode_28/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.477, 0.442]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.484, 0.572]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_28", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_28.json" + } + }, + { + "id": "maniskill_PushCube_out_562", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_562/frame_0048.jpg", + "maniskill/PushCube/images/episode_562/frame_0053.jpg", + "maniskill/PushCube/images/episode_562/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.404, 0.459]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.401, 0.582]). The trajectory involves 17 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_562", + "trajectory_length": 17, + "key_frame_indices": [ + 0, + 5, + 16 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_562.json" + } + }, + { + "id": "maniskill_PushCube_out_110", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_110/frame_0028.jpg", + "maniskill/PushCube/images/episode_110/frame_0054.jpg", + "maniskill/PushCube/images/episode_110/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.407, 0.439]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.407, 0.568]). The trajectory involves 40 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_110", + "trajectory_length": 40, + "key_frame_indices": [ + 0, + 26, + 39 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_110.json" + } + }, + { + "id": "maniskill_PushCube_out_119", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_119/frame_0045.jpg", + "maniskill/PushCube/images/episode_119/frame_0051.jpg", + "maniskill/PushCube/images/episode_119/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.456]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.473, 0.585]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_119", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_119.json" + } + }, + { + "id": "maniskill_PushCube_out_302", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_302/frame_0048.jpg", + "maniskill/PushCube/images/episode_302/frame_0055.jpg", + "maniskill/PushCube/images/episode_302/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.425, 0.434]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.427, 0.564]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_302", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_302.json" + } + }, + { + "id": "maniskill_PushCube_out_776", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_776/frame_0042.jpg", + "maniskill/PushCube/images/episode_776/frame_0050.jpg", + "maniskill/PushCube/images/episode_776/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.615]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.313, 0.760]). The trajectory involves 28 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_776", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_776.json" + } + }, + { + "id": "maniskill_PushCube_out_752", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_752/frame_0042.jpg", + "maniskill/PushCube/images/episode_752/frame_0049.jpg", + "maniskill/PushCube/images/episode_752/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.493, 0.576]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.499, 0.718]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_752", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_752.json" + } + }, + { + "id": "maniskill_PushCube_out_866", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_866/frame_0043.jpg", + "maniskill/PushCube/images/episode_866/frame_0050.jpg", + "maniskill/PushCube/images/episode_866/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.390, 0.608]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.388, 0.758]). The trajectory involves 28 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_866", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 7, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_866.json" + } + }, + { + "id": "maniskill_PushCube_out_286", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_286/frame_0048.jpg", + "maniskill/PushCube/images/episode_286/frame_0059.jpg", + "maniskill/PushCube/images/episode_286/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.343, 0.643]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.332, 0.789]). The trajectory involves 30 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_286", + "trajectory_length": 30, + "key_frame_indices": [ + 0, + 11, + 29 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_286.json" + } + }, + { + "id": "maniskill_PushCube_out_812", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_812/frame_0043.jpg", + "maniskill/PushCube/images/episode_812/frame_0049.jpg", + "maniskill/PushCube/images/episode_812/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.431, 0.568]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.712]). The trajectory involves 23 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_812", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_812.json" + } + }, + { + "id": "maniskill_PushCube_out_290", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_290/frame_0031.jpg", + "maniskill/PushCube/images/episode_290/frame_0057.jpg", + "maniskill/PushCube/images/episode_290/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.420]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.474, 0.533]). The trajectory involves 42 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_290", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 26, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_290.json" + } + }, + { + "id": "maniskill_PushCube_out_997", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_997/frame_0043.jpg", + "maniskill/PushCube/images/episode_997/frame_0051.jpg", + "maniskill/PushCube/images/episode_997/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.308, 0.608]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.294, 0.748]). The trajectory involves 26 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_997", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_997.json" + } + }, + { + "id": "maniskill_PushCube_out_700", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_700/frame_0039.jpg", + "maniskill/PushCube/images/episode_700/frame_0047.jpg", + "maniskill/PushCube/images/episode_700/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.449, 0.566]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.453, 0.709]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_700", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_700.json" + } + }, + { + "id": "maniskill_PushCube_out_808", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_808/frame_0042.jpg", + "maniskill/PushCube/images/episode_808/frame_0049.jpg", + "maniskill/PushCube/images/episode_808/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.323, 0.573]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.312, 0.716]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_808", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_808.json" + } + }, + { + "id": "maniskill_PushCube_out_711", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_711/frame_0045.jpg", + "maniskill/PushCube/images/episode_711/frame_0051.jpg", + "maniskill/PushCube/images/episode_711/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.384, 0.563]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.382, 0.693]). The trajectory involves 22 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_711", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_711.json" + } + }, + { + "id": "maniskill_PushCube_out_556", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_556/frame_0031.jpg", + "maniskill/PushCube/images/episode_556/frame_0056.jpg", + "maniskill/PushCube/images/episode_556/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.432, 0.422]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.427, 0.537]). The trajectory involves 43 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_556", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 25, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_556.json" + } + }, + { + "id": "maniskill_PushCube_out_398", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_398/frame_0042.jpg", + "maniskill/PushCube/images/episode_398/frame_0049.jpg", + "maniskill/PushCube/images/episode_398/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.489, 0.460]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.498, 0.589]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_398", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_398.json" + } + }, + { + "id": "maniskill_PushCube_out_644", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_644/frame_0046.jpg", + "maniskill/PushCube/images/episode_644/frame_0053.jpg", + "maniskill/PushCube/images/episode_644/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.435, 0.463]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.439, 0.593]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_644", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_644.json" + } + }, + { + "id": "maniskill_PushCube_out_971", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_971/frame_0045.jpg", + "maniskill/PushCube/images/episode_971/frame_0052.jpg", + "maniskill/PushCube/images/episode_971/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.491, 0.571]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.500, 0.707]). The trajectory involves 26 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_971", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_971.json" + } + }, + { + "id": "maniskill_PushCube_out_108", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_108/frame_0042.jpg", + "maniskill/PushCube/images/episode_108/frame_0050.jpg", + "maniskill/PushCube/images/episode_108/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.479, 0.574]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.487, 0.710]). The trajectory involves 24 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_108", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_108.json" + } + }, + { + "id": "maniskill_PushCube_out_809", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_809/frame_0051.jpg", + "maniskill/PushCube/images/episode_809/frame_0057.jpg", + "maniskill/PushCube/images/episode_809/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.447, 0.441]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.452, 0.570]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_809", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_809.json" + } + }, + { + "id": "maniskill_PushCube_out_939", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_939/frame_0043.jpg", + "maniskill/PushCube/images/episode_939/frame_0050.jpg", + "maniskill/PushCube/images/episode_939/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.464, 0.605]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.467, 0.754]). The trajectory involves 26 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_939", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_939.json" + } + }, + { + "id": "maniskill_PushCube_out_135", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_135/frame_0042.jpg", + "maniskill/PushCube/images/episode_135/frame_0050.jpg", + "maniskill/PushCube/images/episode_135/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.496, 0.602]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.502, 0.750]). The trajectory involves 26 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_135", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_135.json" + } + }, + { + "id": "maniskill_PushCube_out_88", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_88/frame_0048.jpg", + "maniskill/PushCube/images/episode_88/frame_0055.jpg", + "maniskill/PushCube/images/episode_88/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.426, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.427, 0.652]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_88", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_88.json" + } + }, + { + "id": "maniskill_PushCube_out_792", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_792/frame_0045.jpg", + "maniskill/PushCube/images/episode_792/frame_0055.jpg", + "maniskill/PushCube/images/episode_792/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.462, 0.635]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.461, 0.779]). The trajectory involves 27 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_792", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 10, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_792.json" + } + }, + { + "id": "maniskill_PushCube_out_758", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_758/frame_0042.jpg", + "maniskill/PushCube/images/episode_758/frame_0049.jpg", + "maniskill/PushCube/images/episode_758/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.476, 0.579]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.484, 0.722]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_758", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_758.json" + } + }, + { + "id": "maniskill_PushCube_out_61", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_61/frame_0040.jpg", + "maniskill/PushCube/images/episode_61/frame_0049.jpg", + "maniskill/PushCube/images/episode_61/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.597]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.745]). The trajectory involves 26 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_61", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 9, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_61.json" + } + }, + { + "id": "maniskill_PushCube_out_528", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_528/frame_0042.jpg", + "maniskill/PushCube/images/episode_528/frame_0049.jpg", + "maniskill/PushCube/images/episode_528/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.479, 0.527]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.486, 0.664]). The trajectory involves 22 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_528", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_528.json" + } + }, + { + "id": "maniskill_PushCube_out_766", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_766/frame_0044.jpg", + "maniskill/PushCube/images/episode_766/frame_0052.jpg", + "maniskill/PushCube/images/episode_766/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.391, 0.598]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.387, 0.741]). The trajectory involves 28 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_766", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_766.json" + } + }, + { + "id": "maniskill_PushCube_out_567", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_567/frame_0046.jpg", + "maniskill/PushCube/images/episode_567/frame_0055.jpg", + "maniskill/PushCube/images/episode_567/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.486, 0.639]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.495, 0.781]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_567", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_567.json" + } + }, + { + "id": "maniskill_PushCube_out_103", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_103/frame_0046.jpg", + "maniskill/PushCube/images/episode_103/frame_0053.jpg", + "maniskill/PushCube/images/episode_103/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.455, 0.457]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.461, 0.586]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_103", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_103.json" + } + }, + { + "id": "maniskill_PushCube_out_818", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_818/frame_0050.jpg", + "maniskill/PushCube/images/episode_818/frame_0056.jpg", + "maniskill/PushCube/images/episode_818/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.481]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.334, 0.612]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_818", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_818.json" + } + }, + { + "id": "maniskill_PushCube_out_841", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_841/frame_0042.jpg", + "maniskill/PushCube/images/episode_841/frame_0049.jpg", + "maniskill/PushCube/images/episode_841/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.522]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.387, 0.661]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_841", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_841.json" + } + }, + { + "id": "maniskill_PushCube_out_932", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_932/frame_0047.jpg", + "maniskill/PushCube/images/episode_932/frame_0053.jpg", + "maniskill/PushCube/images/episode_932/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.381, 0.492]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.376, 0.609]). The trajectory involves 20 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_932", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_932.json" + } + }, + { + "id": "maniskill_PushCube_out_925", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_925/frame_0047.jpg", + "maniskill/PushCube/images/episode_925/frame_0054.jpg", + "maniskill/PushCube/images/episode_925/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.525]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.374, 0.659]). The trajectory involves 23 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_925", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_925.json" + } + }, + { + "id": "maniskill_PushCube_out_467", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_467/frame_0044.jpg", + "maniskill/PushCube/images/episode_467/frame_0051.jpg", + "maniskill/PushCube/images/episode_467/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.460, 0.529]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.464, 0.668]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_467", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_467.json" + } + }, + { + "id": "maniskill_PushCube_out_697", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_697/frame_0043.jpg", + "maniskill/PushCube/images/episode_697/frame_0051.jpg", + "maniskill/PushCube/images/episode_697/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.488, 0.614]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.495, 0.761]). The trajectory involves 26 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_697", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_697.json" + } + }, + { + "id": "maniskill_PushCube_out_804", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_804/frame_0047.jpg", + "maniskill/PushCube/images/episode_804/frame_0056.jpg", + "maniskill/PushCube/images/episode_804/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.458, 0.635]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.460, 0.779]). The trajectory involves 27 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_804", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_804.json" + } + }, + { + "id": "maniskill_PushCube_out_611", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_611/frame_0051.jpg", + "maniskill/PushCube/images/episode_611/frame_0057.jpg", + "maniskill/PushCube/images/episode_611/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.459, 0.443]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.467, 0.559]). The trajectory involves 22 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_611", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_611.json" + } + }, + { + "id": "maniskill_PushCube_out_377", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_377/frame_0052.jpg", + "maniskill/PushCube/images/episode_377/frame_0058.jpg", + "maniskill/PushCube/images/episode_377/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.328, 0.440]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.318, 0.568]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_377", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_377.json" + } + }, + { + "id": "maniskill_PushCube_out_1", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_1/frame_0042.jpg", + "maniskill/PushCube/images/episode_1/frame_0050.jpg", + "maniskill/PushCube/images/episode_1/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.584]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.352, 0.727]). The trajectory involves 28 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_1", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_1.json" + } + }, + { + "id": "maniskill_PushCube_out_732", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_732/frame_0045.jpg", + "maniskill/PushCube/images/episode_732/frame_0051.jpg", + "maniskill/PushCube/images/episode_732/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.467, 0.438]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.475, 0.567]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_732", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_732.json" + } + }, + { + "id": "maniskill_PushCube_out_77", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_77/frame_0046.jpg", + "maniskill/PushCube/images/episode_77/frame_0053.jpg", + "maniskill/PushCube/images/episode_77/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.356, 0.452]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.348, 0.571]). The trajectory involves 22 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_77", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_77.json" + } + }, + { + "id": "maniskill_PushCube_out_310", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_310/frame_0042.jpg", + "maniskill/PushCube/images/episode_310/frame_0049.jpg", + "maniskill/PushCube/images/episode_310/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.553]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.310, 0.697]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_310", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_310.json" + } + }, + { + "id": "maniskill_PushCube_out_540", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_540/frame_0044.jpg", + "maniskill/PushCube/images/episode_540/frame_0051.jpg", + "maniskill/PushCube/images/episode_540/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.608]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.388, 0.752]). The trajectory involves 28 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_540", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 7, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_540.json" + } + }, + { + "id": "maniskill_PushCube_out_578", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_578/frame_0030.jpg", + "maniskill/PushCube/images/episode_578/frame_0054.jpg", + "maniskill/PushCube/images/episode_578/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.429]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.368, 0.557]). The trajectory involves 40 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_578", + "trajectory_length": 40, + "key_frame_indices": [ + 0, + 24, + 39 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_578.json" + } + }, + { + "id": "maniskill_PushCube_out_263", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_263/frame_0047.jpg", + "maniskill/PushCube/images/episode_263/frame_0053.jpg", + "maniskill/PushCube/images/episode_263/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.462]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.352, 0.591]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_263", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_263.json" + } + }, + { + "id": "maniskill_PushCube_out_889", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_889/frame_0049.jpg", + "maniskill/PushCube/images/episode_889/frame_0056.jpg", + "maniskill/PushCube/images/episode_889/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.400, 0.508]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.396, 0.650]). The trajectory involves 22 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_889", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_889.json" + } + }, + { + "id": "maniskill_PushCube_out_367", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_367/frame_0042.jpg", + "maniskill/PushCube/images/episode_367/frame_0049.jpg", + "maniskill/PushCube/images/episode_367/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.575]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.385, 0.714]). The trajectory involves 27 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_367", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 7, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_367.json" + } + }, + { + "id": "maniskill_PushCube_out_106", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_106/frame_0040.jpg", + "maniskill/PushCube/images/episode_106/frame_0047.jpg", + "maniskill/PushCube/images/episode_106/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.429, 0.532]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.432, 0.669]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_106", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_106.json" + } + }, + { + "id": "maniskill_PushCube_out_265", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_265/frame_0047.jpg", + "maniskill/PushCube/images/episode_265/frame_0053.jpg", + "maniskill/PushCube/images/episode_265/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.451, 0.444]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.455, 0.572]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_265", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_265.json" + } + }, + { + "id": "maniskill_PushCube_out_535", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_535/frame_0045.jpg", + "maniskill/PushCube/images/episode_535/frame_0051.jpg", + "maniskill/PushCube/images/episode_535/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.372, 0.474]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.365, 0.604]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_535", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_535.json" + } + }, + { + "id": "maniskill_PushCube_out_572", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_572/frame_0045.jpg", + "maniskill/PushCube/images/episode_572/frame_0051.jpg", + "maniskill/PushCube/images/episode_572/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.332, 0.636]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.329, 0.780]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_572", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 6, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_572.json" + } + }, + { + "id": "maniskill_PushCube_out_673", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_673/frame_0027.jpg", + "maniskill/PushCube/images/episode_673/frame_0054.jpg", + "maniskill/PushCube/images/episode_673/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.392, 0.436]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.391, 0.566]). The trajectory involves 42 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_673", + "trajectory_length": 42, + "key_frame_indices": [ + 0, + 27, + 41 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_673.json" + } + }, + { + "id": "maniskill_PushCube_out_326", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_326/frame_0048.jpg", + "maniskill/PushCube/images/episode_326/frame_0054.jpg", + "maniskill/PushCube/images/episode_326/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.428]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.315, 0.555]). The trajectory involves 21 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_326", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_326.json" + } + }, + { + "id": "maniskill_PushCube_out_749", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_749/frame_0045.jpg", + "maniskill/PushCube/images/episode_749/frame_0051.jpg", + "maniskill/PushCube/images/episode_749/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.522]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.315, 0.652]). The trajectory involves 25 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_749", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 6, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_749.json" + } + }, + { + "id": "maniskill_PushCube_out_837", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_837/frame_0042.jpg", + "maniskill/PushCube/images/episode_837/frame_0049.jpg", + "maniskill/PushCube/images/episode_837/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.434, 0.501]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.438, 0.641]). The trajectory involves 25 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_837", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_837.json" + } + }, + { + "id": "maniskill_PushCube_out_357", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_357/frame_0043.jpg", + "maniskill/PushCube/images/episode_357/frame_0051.jpg", + "maniskill/PushCube/images/episode_357/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.308, 0.609]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.299, 0.759]). The trajectory involves 27 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_357", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_357.json" + } + }, + { + "id": "maniskill_PushCube_out_648", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_648/frame_0044.jpg", + "maniskill/PushCube/images/episode_648/frame_0054.jpg", + "maniskill/PushCube/images/episode_648/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.431, 0.614]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.430, 0.756]). The trajectory involves 26 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_648", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 10, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_648.json" + } + }, + { + "id": "maniskill_PushCube_out_157", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_157/frame_0042.jpg", + "maniskill/PushCube/images/episode_157/frame_0050.jpg", + "maniskill/PushCube/images/episode_157/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.495, 0.597]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.501, 0.744]). The trajectory involves 25 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_157", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_157.json" + } + }, + { + "id": "maniskill_PushCube_out_492", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_492/frame_0050.jpg", + "maniskill/PushCube/images/episode_492/frame_0058.jpg", + "maniskill/PushCube/images/episode_492/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.461, 0.486]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.474, 0.604]). The trajectory involves 20 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_492", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 8, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_492.json" + } + }, + { + "id": "maniskill_PushCube_out_895", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_895/frame_0048.jpg", + "maniskill/PushCube/images/episode_895/frame_0055.jpg", + "maniskill/PushCube/images/episode_895/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.462]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.394, 0.577]). The trajectory involves 22 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_895", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_895.json" + } + }, + { + "id": "maniskill_PushCube_out_733", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_733/frame_0044.jpg", + "maniskill/PushCube/images/episode_733/frame_0050.jpg", + "maniskill/PushCube/images/episode_733/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.454, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.459, 0.618]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_733", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_733.json" + } + }, + { + "id": "maniskill_PushCube_out_250", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_250/frame_0047.jpg", + "maniskill/PushCube/images/episode_250/frame_0054.jpg", + "maniskill/PushCube/images/episode_250/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.428, 0.435]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.564]). The trajectory involves 22 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_250", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_250.json" + } + }, + { + "id": "maniskill_PushCube_out_588", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_588/frame_0043.jpg", + "maniskill/PushCube/images/episode_588/frame_0053.jpg", + "maniskill/PushCube/images/episode_588/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.333, 0.568]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.332, 0.705]). The trajectory involves 25 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_588", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 10, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_588.json" + } + }, + { + "id": "maniskill_PushCube_out_503", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_503/frame_0049.jpg", + "maniskill/PushCube/images/episode_503/frame_0055.jpg", + "maniskill/PushCube/images/episode_503/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.396, 0.475]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.395, 0.605]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_503", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_503.json" + } + }, + { + "id": "maniskill_PushCube_out_131", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_131/frame_0040.jpg", + "maniskill/PushCube/images/episode_131/frame_0047.jpg", + "maniskill/PushCube/images/episode_131/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.459, 0.575]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.462, 0.718]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_131", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_131.json" + } + }, + { + "id": "maniskill_PushCube_out_824", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_824/frame_0044.jpg", + "maniskill/PushCube/images/episode_824/frame_0051.jpg", + "maniskill/PushCube/images/episode_824/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.483, 0.485]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.491, 0.616]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_824", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_824.json" + } + }, + { + "id": "maniskill_PushCube_out_666", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_666/frame_0045.jpg", + "maniskill/PushCube/images/episode_666/frame_0051.jpg", + "maniskill/PushCube/images/episode_666/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.504]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.306, 0.637]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_666", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_666.json" + } + }, + { + "id": "maniskill_PushCube_out_838", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_838/frame_0045.jpg", + "maniskill/PushCube/images/episode_838/frame_0050.jpg", + "maniskill/PushCube/images/episode_838/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.472]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.411, 0.602]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_838", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 5, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_838.json" + } + }, + { + "id": "maniskill_PushCube_out_269", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_269/frame_0042.jpg", + "maniskill/PushCube/images/episode_269/frame_0049.jpg", + "maniskill/PushCube/images/episode_269/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.431, 0.551]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.433, 0.691]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_269", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_269.json" + } + }, + { + "id": "maniskill_PushCube_out_301", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_301/frame_0041.jpg", + "maniskill/PushCube/images/episode_301/frame_0049.jpg", + "maniskill/PushCube/images/episode_301/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.576]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.302, 0.718]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_301", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_301.json" + } + }, + { + "id": "maniskill_PushCube_out_203", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_203/frame_0045.jpg", + "maniskill/PushCube/images/episode_203/frame_0052.jpg", + "maniskill/PushCube/images/episode_203/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.584]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.719]). The trajectory involves 24 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_203", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_203.json" + } + }, + { + "id": "maniskill_PushCube_out_156", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_156/frame_0045.jpg", + "maniskill/PushCube/images/episode_156/frame_0051.jpg", + "maniskill/PushCube/images/episode_156/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.477, 0.490]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.482, 0.622]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_156", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_156.json" + } + }, + { + "id": "maniskill_PushCube_out_987", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_987/frame_0043.jpg", + "maniskill/PushCube/images/episode_987/frame_0050.jpg", + "maniskill/PushCube/images/episode_987/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.327, 0.639]). The trajectory involves 26 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_987", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_987.json" + } + }, + { + "id": "maniskill_PushCube_out_961", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_961/frame_0048.jpg", + "maniskill/PushCube/images/episode_961/frame_0054.jpg", + "maniskill/PushCube/images/episode_961/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.508]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.357, 0.649]). The trajectory involves 26 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_961", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 6, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_961.json" + } + }, + { + "id": "maniskill_PushCube_out_606", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_606/frame_0049.jpg", + "maniskill/PushCube/images/episode_606/frame_0055.jpg", + "maniskill/PushCube/images/episode_606/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.355, 0.457]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.349, 0.585]). The trajectory involves 20 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_606", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_606.json" + } + }, + { + "id": "maniskill_PushCube_out_603", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_603/frame_0044.jpg", + "maniskill/PushCube/images/episode_603/frame_0050.jpg", + "maniskill/PushCube/images/episode_603/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.469, 0.504]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.475, 0.638]). The trajectory involves 20 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_603", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_603.json" + } + }, + { + "id": "maniskill_PushCube_out_986", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_986/frame_0045.jpg", + "maniskill/PushCube/images/episode_986/frame_0051.jpg", + "maniskill/PushCube/images/episode_986/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.421, 0.484]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.421, 0.615]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_986", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_986.json" + } + }, + { + "id": "maniskill_PushCube_out_966", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_966/frame_0043.jpg", + "maniskill/PushCube/images/episode_966/frame_0049.jpg", + "maniskill/PushCube/images/episode_966/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.447, 0.583]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.457, 0.722]). The trajectory involves 25 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_966", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 6, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_966.json" + } + }, + { + "id": "maniskill_PushCube_out_541", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_541/frame_0046.jpg", + "maniskill/PushCube/images/episode_541/frame_0053.jpg", + "maniskill/PushCube/images/episode_541/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.468, 0.456]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.474, 0.584]). The trajectory involves 20 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_541", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_541.json" + } + }, + { + "id": "maniskill_PushCube_out_353", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_353/frame_0044.jpg", + "maniskill/PushCube/images/episode_353/frame_0051.jpg", + "maniskill/PushCube/images/episode_353/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.412, 0.508]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.412, 0.648]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_353", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_353.json" + } + }, + { + "id": "maniskill_PushCube_out_280", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_280/frame_0043.jpg", + "maniskill/PushCube/images/episode_280/frame_0050.jpg", + "maniskill/PushCube/images/episode_280/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.434, 0.534]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.436, 0.672]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_280", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_280.json" + } + }, + { + "id": "maniskill_PushCube_out_566", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_566/frame_0046.jpg", + "maniskill/PushCube/images/episode_566/frame_0055.jpg", + "maniskill/PushCube/images/episode_566/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.583]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.477, 0.721]). The trajectory involves 25 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_566", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 9, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_566.json" + } + }, + { + "id": "maniskill_PushCube_out_840", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_840/frame_0042.jpg", + "maniskill/PushCube/images/episode_840/frame_0050.jpg", + "maniskill/PushCube/images/episode_840/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.306, 0.597]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.297, 0.743]). The trajectory involves 26 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_840", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_840.json" + } + }, + { + "id": "maniskill_PushCube_out_414", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_414/frame_0048.jpg", + "maniskill/PushCube/images/episode_414/frame_0054.jpg", + "maniskill/PushCube/images/episode_414/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.483, 0.481]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.497, 0.595]). The trajectory involves 20 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_414", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_414.json" + } + }, + { + "id": "maniskill_PushCube_out_943", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_943/frame_0044.jpg", + "maniskill/PushCube/images/episode_943/frame_0051.jpg", + "maniskill/PushCube/images/episode_943/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.424, 0.578]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.427, 0.717]). The trajectory involves 26 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_943", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_943.json" + } + }, + { + "id": "maniskill_PushCube_out_811", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_811/frame_0046.jpg", + "maniskill/PushCube/images/episode_811/frame_0053.jpg", + "maniskill/PushCube/images/episode_811/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.479, 0.554]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.487, 0.685]). The trajectory involves 22 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_811", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_811.json" + } + }, + { + "id": "maniskill_PushCube_out_221", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_221/frame_0043.jpg", + "maniskill/PushCube/images/episode_221/frame_0050.jpg", + "maniskill/PushCube/images/episode_221/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.343, 0.593]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.335, 0.738]). The trajectory involves 24 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_221", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_221.json" + } + }, + { + "id": "maniskill_PushCube_out_231", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_231/frame_0045.jpg", + "maniskill/PushCube/images/episode_231/frame_0052.jpg", + "maniskill/PushCube/images/episode_231/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.368, 0.465]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.363, 0.595]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_231", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_231.json" + } + }, + { + "id": "maniskill_PushCube_out_275", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_275/frame_0043.jpg", + "maniskill/PushCube/images/episode_275/frame_0053.jpg", + "maniskill/PushCube/images/episode_275/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.356, 0.635]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.352, 0.780]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_275", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_275.json" + } + }, + { + "id": "maniskill_PushCube_out_165", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_165/frame_0049.jpg", + "maniskill/PushCube/images/episode_165/frame_0055.jpg", + "maniskill/PushCube/images/episode_165/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.505]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.400, 0.638]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_165", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_165.json" + } + }, + { + "id": "maniskill_PushCube_out_571", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_571/frame_0039.jpg", + "maniskill/PushCube/images/episode_571/frame_0047.jpg", + "maniskill/PushCube/images/episode_571/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.580]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.349, 0.724]). The trajectory involves 25 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_571", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_571.json" + } + }, + { + "id": "maniskill_PushCube_out_682", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_682/frame_0030.jpg", + "maniskill/PushCube/images/episode_682/frame_0055.jpg", + "maniskill/PushCube/images/episode_682/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.432]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.402, 0.561]). The trajectory involves 41 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_682", + "trajectory_length": 41, + "key_frame_indices": [ + 0, + 25, + 40 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_682.json" + } + }, + { + "id": "maniskill_PushCube_out_87", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_87/frame_0050.jpg", + "maniskill/PushCube/images/episode_87/frame_0056.jpg", + "maniskill/PushCube/images/episode_87/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.454]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.583]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_87", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_87.json" + } + }, + { + "id": "maniskill_PushCube_out_677", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_677/frame_0040.jpg", + "maniskill/PushCube/images/episode_677/frame_0047.jpg", + "maniskill/PushCube/images/episode_677/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.346, 0.528]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.339, 0.666]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_677", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_677.json" + } + }, + { + "id": "maniskill_PushCube_out_953", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_953/frame_0044.jpg", + "maniskill/PushCube/images/episode_953/frame_0053.jpg", + "maniskill/PushCube/images/episode_953/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.429, 0.587]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.435, 0.731]). The trajectory involves 28 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_953", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 9, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_953.json" + } + }, + { + "id": "maniskill_PushCube_out_455", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_455/frame_0039.jpg", + "maniskill/PushCube/images/episode_455/frame_0047.jpg", + "maniskill/PushCube/images/episode_455/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.561]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.356, 0.704]). The trajectory involves 25 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_455", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_455.json" + } + }, + { + "id": "maniskill_PushCube_out_9", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_9/frame_0043.jpg", + "maniskill/PushCube/images/episode_9/frame_0050.jpg", + "maniskill/PushCube/images/episode_9/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.397, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.394, 0.653]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_9", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_9.json" + } + }, + { + "id": "maniskill_PushCube_out_509", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_509/frame_0048.jpg", + "maniskill/PushCube/images/episode_509/frame_0054.jpg", + "maniskill/PushCube/images/episode_509/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.462, 0.444]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.472, 0.560]). The trajectory involves 22 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_509", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_509.json" + } + }, + { + "id": "maniskill_PushCube_out_658", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_658/frame_0043.jpg", + "maniskill/PushCube/images/episode_658/frame_0053.jpg", + "maniskill/PushCube/images/episode_658/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.332, 0.622]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.320, 0.768]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_658", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_658.json" + } + }, + { + "id": "maniskill_PushCube_out_35", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_35/frame_0043.jpg", + "maniskill/PushCube/images/episode_35/frame_0050.jpg", + "maniskill/PushCube/images/episode_35/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.388, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.385, 0.662]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_35", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_35.json" + } + }, + { + "id": "maniskill_PushCube_out_495", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_495/frame_0029.jpg", + "maniskill/PushCube/images/episode_495/frame_0058.jpg", + "maniskill/PushCube/images/episode_495/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.447, 0.429]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.456, 0.558]). The trajectory involves 44 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_495", + "trajectory_length": 44, + "key_frame_indices": [ + 0, + 29, + 43 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_495.json" + } + }, + { + "id": "maniskill_PushCube_out_237", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_237/frame_0044.jpg", + "maniskill/PushCube/images/episode_237/frame_0051.jpg", + "maniskill/PushCube/images/episode_237/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.507]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.411, 0.646]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_237", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_237.json" + } + }, + { + "id": "maniskill_PushCube_out_304", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_304/frame_0042.jpg", + "maniskill/PushCube/images/episode_304/frame_0049.jpg", + "maniskill/PushCube/images/episode_304/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.484, 0.574]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.491, 0.716]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_304", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_304.json" + } + }, + { + "id": "maniskill_PushCube_out_384", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_384/frame_0047.jpg", + "maniskill/PushCube/images/episode_384/frame_0056.jpg", + "maniskill/PushCube/images/episode_384/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.347, 0.642]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.347, 0.787]). The trajectory involves 27 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_384", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_384.json" + } + }, + { + "id": "maniskill_PushCube_out_363", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_363/frame_0042.jpg", + "maniskill/PushCube/images/episode_363/frame_0049.jpg", + "maniskill/PushCube/images/episode_363/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.557]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.353, 0.690]). The trajectory involves 22 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_363", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_363.json" + } + }, + { + "id": "maniskill_PushCube_out_544", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_544/frame_0046.jpg", + "maniskill/PushCube/images/episode_544/frame_0053.jpg", + "maniskill/PushCube/images/episode_544/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.391, 0.586]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.384, 0.722]). The trajectory involves 24 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_544", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_544.json" + } + }, + { + "id": "maniskill_PushCube_out_539", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_539/frame_0048.jpg", + "maniskill/PushCube/images/episode_539/frame_0055.jpg", + "maniskill/PushCube/images/episode_539/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.331, 0.431]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.322, 0.560]). The trajectory involves 22 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_539", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_539.json" + } + }, + { + "id": "maniskill_PushCube_out_371", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_371/frame_0046.jpg", + "maniskill/PushCube/images/episode_371/frame_0053.jpg", + "maniskill/PushCube/images/episode_371/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.376, 0.447]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.372, 0.577]). The trajectory involves 22 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_371", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_371.json" + } + }, + { + "id": "maniskill_PushCube_out_282", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_282/frame_0046.jpg", + "maniskill/PushCube/images/episode_282/frame_0053.jpg", + "maniskill/PushCube/images/episode_282/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.336, 0.443]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.324, 0.561]). The trajectory involves 23 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_282", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_282.json" + } + }, + { + "id": "maniskill_PushCube_out_181", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_181/frame_0048.jpg", + "maniskill/PushCube/images/episode_181/frame_0055.jpg", + "maniskill/PushCube/images/episode_181/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.506]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.352, 0.645]). The trajectory involves 25 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_181", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_181.json" + } + }, + { + "id": "maniskill_PushCube_out_833", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_833/frame_0047.jpg", + "maniskill/PushCube/images/episode_833/frame_0053.jpg", + "maniskill/PushCube/images/episode_833/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.482]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.316, 0.612]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_833", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_833.json" + } + }, + { + "id": "maniskill_PushCube_out_264", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_264/frame_0049.jpg", + "maniskill/PushCube/images/episode_264/frame_0055.jpg", + "maniskill/PushCube/images/episode_264/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.389, 0.445]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.389, 0.560]). The trajectory involves 23 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_264", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_264.json" + } + }, + { + "id": "maniskill_PushCube_out_813", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_813/frame_0040.jpg", + "maniskill/PushCube/images/episode_813/frame_0048.jpg", + "maniskill/PushCube/images/episode_813/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.324, 0.575]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.317, 0.717]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_813", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_813.json" + } + }, + { + "id": "maniskill_PushCube_out_147", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_147/frame_0042.jpg", + "maniskill/PushCube/images/episode_147/frame_0049.jpg", + "maniskill/PushCube/images/episode_147/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.408, 0.546]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.407, 0.682]). The trajectory involves 22 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_147", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_147.json" + } + }, + { + "id": "maniskill_PushCube_out_870", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_870/frame_0047.jpg", + "maniskill/PushCube/images/episode_870/frame_0054.jpg", + "maniskill/PushCube/images/episode_870/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.488, 0.620]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.498, 0.760]). The trajectory involves 26 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_870", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_870.json" + } + }, + { + "id": "maniskill_PushCube_out_167", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_167/frame_0044.jpg", + "maniskill/PushCube/images/episode_167/frame_0051.jpg", + "maniskill/PushCube/images/episode_167/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.321, 0.498]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.311, 0.629]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_167", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_167.json" + } + }, + { + "id": "maniskill_PushCube_out_874", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_874/frame_0031.jpg", + "maniskill/PushCube/images/episode_874/frame_0060.jpg", + "maniskill/PushCube/images/episode_874/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.418, 0.423]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.417, 0.544]). The trajectory involves 43 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_874", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 29, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_874.json" + } + }, + { + "id": "maniskill_PushCube_out_134", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_134/frame_0039.jpg", + "maniskill/PushCube/images/episode_134/frame_0046.jpg", + "maniskill/PushCube/images/episode_134/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.414, 0.553]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.413, 0.693]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_134", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_134.json" + } + }, + { + "id": "maniskill_PushCube_out_867", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_867/frame_0046.jpg", + "maniskill/PushCube/images/episode_867/frame_0053.jpg", + "maniskill/PushCube/images/episode_867/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.395, 0.531]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.395, 0.669]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_867", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_867.json" + } + }, + { + "id": "maniskill_PushCube_out_247", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_247/frame_0051.jpg", + "maniskill/PushCube/images/episode_247/frame_0057.jpg", + "maniskill/PushCube/images/episode_247/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.345, 0.464]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.340, 0.593]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_247", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_247.json" + } + }, + { + "id": "maniskill_PushCube_out_698", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_698/frame_0039.jpg", + "maniskill/PushCube/images/episode_698/frame_0047.jpg", + "maniskill/PushCube/images/episode_698/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.575]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.399, 0.720]). The trajectory involves 24 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_698", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_698.json" + } + }, + { + "id": "maniskill_PushCube_out_952", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_952/frame_0042.jpg", + "maniskill/PushCube/images/episode_952/frame_0049.jpg", + "maniskill/PushCube/images/episode_952/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.515]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.443, 0.653]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_952", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_952.json" + } + }, + { + "id": "maniskill_PushCube_out_847", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_847/frame_0047.jpg", + "maniskill/PushCube/images/episode_847/frame_0054.jpg", + "maniskill/PushCube/images/episode_847/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.427, 0.551]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.430, 0.678]). The trajectory involves 22 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_847", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_847.json" + } + }, + { + "id": "maniskill_PushCube_out_278", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_278/frame_0045.jpg", + "maniskill/PushCube/images/episode_278/frame_0051.jpg", + "maniskill/PushCube/images/episode_278/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.488, 0.483]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.496, 0.606]). The trajectory involves 20 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_278", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_278.json" + } + }, + { + "id": "maniskill_PushCube_out_175", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_175/frame_0044.jpg", + "maniskill/PushCube/images/episode_175/frame_0049.jpg", + "maniskill/PushCube/images/episode_175/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.312, 0.483]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.301, 0.614]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_175", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 5, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_175.json" + } + }, + { + "id": "maniskill_PushCube_out_868", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_868/frame_0044.jpg", + "maniskill/PushCube/images/episode_868/frame_0051.jpg", + "maniskill/PushCube/images/episode_868/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.420, 0.551]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.420, 0.692]). The trajectory involves 22 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_868", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_868.json" + } + }, + { + "id": "maniskill_PushCube_out_305", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_305/frame_0041.jpg", + "maniskill/PushCube/images/episode_305/frame_0048.jpg", + "maniskill/PushCube/images/episode_305/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.533]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.304, 0.670]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_305", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_305.json" + } + }, + { + "id": "maniskill_PushCube_out_49", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_49/frame_0047.jpg", + "maniskill/PushCube/images/episode_49/frame_0057.jpg", + "maniskill/PushCube/images/episode_49/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.447, 0.641]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.454, 0.788]). The trajectory involves 31 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_49", + "trajectory_length": 31, + "key_frame_indices": [ + 0, + 10, + 30 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_49.json" + } + }, + { + "id": "maniskill_PushCube_out_580", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_580/frame_0048.jpg", + "maniskill/PushCube/images/episode_580/frame_0054.jpg", + "maniskill/PushCube/images/episode_580/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.386, 0.476]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.607]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_580", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_580.json" + } + }, + { + "id": "maniskill_PushCube_out_773", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_773/frame_0048.jpg", + "maniskill/PushCube/images/episode_773/frame_0054.jpg", + "maniskill/PushCube/images/episode_773/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.477]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.321, 0.607]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_773", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_773.json" + } + }, + { + "id": "maniskill_PushCube_out_349", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_349/frame_0042.jpg", + "maniskill/PushCube/images/episode_349/frame_0049.jpg", + "maniskill/PushCube/images/episode_349/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.562]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.344, 0.694]). The trajectory involves 22 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_349", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_349.json" + } + }, + { + "id": "maniskill_PushCube_out_748", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_748/frame_0043.jpg", + "maniskill/PushCube/images/episode_748/frame_0051.jpg", + "maniskill/PushCube/images/episode_748/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.371, 0.618]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.366, 0.767]). The trajectory involves 25 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_748", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_748.json" + } + }, + { + "id": "maniskill_PushCube_out_570", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_570/frame_0027.jpg", + "maniskill/PushCube/images/episode_570/frame_0049.jpg", + "maniskill/PushCube/images/episode_570/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.442, 0.418]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.447, 0.542]). The trajectory involves 37 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_570", + "trajectory_length": 37, + "key_frame_indices": [ + 0, + 22, + 36 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_570.json" + } + }, + { + "id": "maniskill_PushCube_out_486", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_486/frame_0049.jpg", + "maniskill/PushCube/images/episode_486/frame_0055.jpg", + "maniskill/PushCube/images/episode_486/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.441]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.569]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_486", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_486.json" + } + }, + { + "id": "maniskill_PushCube_out_857", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_857/frame_0041.jpg", + "maniskill/PushCube/images/episode_857/frame_0048.jpg", + "maniskill/PushCube/images/episode_857/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.340, 0.549]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.334, 0.688]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_857", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_857.json" + } + }, + { + "id": "maniskill_PushCube_out_555", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_555/frame_0043.jpg", + "maniskill/PushCube/images/episode_555/frame_0049.jpg", + "maniskill/PushCube/images/episode_555/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.413, 0.517]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.414, 0.657]). The trajectory involves 23 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_555", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_555.json" + } + }, + { + "id": "maniskill_PushCube_out_419", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_419/frame_0040.jpg", + "maniskill/PushCube/images/episode_419/frame_0047.jpg", + "maniskill/PushCube/images/episode_419/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.484, 0.528]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.492, 0.665]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_419", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_419.json" + } + }, + { + "id": "maniskill_PushCube_out_919", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_919/frame_0044.jpg", + "maniskill/PushCube/images/episode_919/frame_0052.jpg", + "maniskill/PushCube/images/episode_919/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.490, 0.631]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.495, 0.774]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_919", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 8, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_919.json" + } + }, + { + "id": "maniskill_PushCube_out_441", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_441/frame_0045.jpg", + "maniskill/PushCube/images/episode_441/frame_0054.jpg", + "maniskill/PushCube/images/episode_441/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.357, 0.591]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.360, 0.735]). The trajectory involves 29 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_441", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_441.json" + } + }, + { + "id": "maniskill_PushCube_out_96", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_96/frame_0029.jpg", + "maniskill/PushCube/images/episode_96/frame_0057.jpg", + "maniskill/PushCube/images/episode_96/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.483, 0.438]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.493, 0.566]). The trajectory involves 43 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_96", + "trajectory_length": 43, + "key_frame_indices": [ + 0, + 28, + 42 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_96.json" + } + }, + { + "id": "maniskill_PushCube_out_277", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_277/frame_0045.jpg", + "maniskill/PushCube/images/episode_277/frame_0051.jpg", + "maniskill/PushCube/images/episode_277/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.488]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.395, 0.620]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_277", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_277.json" + } + }, + { + "id": "maniskill_PushCube_out_43", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_43/frame_0048.jpg", + "maniskill/PushCube/images/episode_43/frame_0054.jpg", + "maniskill/PushCube/images/episode_43/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.482, 0.455]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.490, 0.584]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_43", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_43.json" + } + }, + { + "id": "maniskill_PushCube_out_794", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_794/frame_0043.jpg", + "maniskill/PushCube/images/episode_794/frame_0049.jpg", + "maniskill/PushCube/images/episode_794/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.488, 0.492]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.498, 0.623]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_794", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_794.json" + } + }, + { + "id": "maniskill_PushCube_out_546", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_546/frame_0043.jpg", + "maniskill/PushCube/images/episode_546/frame_0051.jpg", + "maniskill/PushCube/images/episode_546/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.363, 0.607]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.364, 0.748]). The trajectory involves 26 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_546", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 8, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_546.json" + } + }, + { + "id": "maniskill_PushCube_out_190", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_190/frame_0039.jpg", + "maniskill/PushCube/images/episode_190/frame_0047.jpg", + "maniskill/PushCube/images/episode_190/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.427, 0.578]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.427, 0.722]). The trajectory involves 24 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_190", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_190.json" + } + }, + { + "id": "maniskill_PushCube_out_980", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_980/frame_0042.jpg", + "maniskill/PushCube/images/episode_980/frame_0049.jpg", + "maniskill/PushCube/images/episode_980/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.387, 0.552]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.692]). The trajectory involves 22 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_980", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_980.json" + } + }, + { + "id": "maniskill_PushCube_out_76", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_76/frame_0049.jpg", + "maniskill/PushCube/images/episode_76/frame_0055.jpg", + "maniskill/PushCube/images/episode_76/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.330, 0.618]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_76", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_76.json" + } + }, + { + "id": "maniskill_PushCube_out_746", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_746/frame_0043.jpg", + "maniskill/PushCube/images/episode_746/frame_0050.jpg", + "maniskill/PushCube/images/episode_746/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.576]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.454, 0.718]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_746", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_746.json" + } + }, + { + "id": "maniskill_PushCube_out_928", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_928/frame_0046.jpg", + "maniskill/PushCube/images/episode_928/frame_0055.jpg", + "maniskill/PushCube/images/episode_928/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.399, 0.596]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.395, 0.740]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_928", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_928.json" + } + }, + { + "id": "maniskill_PushCube_out_355", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_355/frame_0050.jpg", + "maniskill/PushCube/images/episode_355/frame_0056.jpg", + "maniskill/PushCube/images/episode_355/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.409, 0.434]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.410, 0.562]). The trajectory involves 21 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_355", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_355.json" + } + }, + { + "id": "maniskill_PushCube_out_637", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_637/frame_0049.jpg", + "maniskill/PushCube/images/episode_637/frame_0055.jpg", + "maniskill/PushCube/images/episode_637/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.394, 0.471]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.391, 0.602]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_637", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_637.json" + } + }, + { + "id": "maniskill_PushCube_out_253", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_253/frame_0030.jpg", + "maniskill/PushCube/images/episode_253/frame_0054.jpg", + "maniskill/PushCube/images/episode_253/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.342, 0.424]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.333, 0.552]). The trajectory involves 39 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_253", + "trajectory_length": 39, + "key_frame_indices": [ + 0, + 24, + 38 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_253.json" + } + }, + { + "id": "maniskill_PushCube_out_608", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_608/frame_0043.jpg", + "maniskill/PushCube/images/episode_608/frame_0050.jpg", + "maniskill/PushCube/images/episode_608/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.434, 0.570]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.437, 0.716]). The trajectory involves 24 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_608", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_608.json" + } + }, + { + "id": "maniskill_PushCube_out_696", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_696/frame_0045.jpg", + "maniskill/PushCube/images/episode_696/frame_0051.jpg", + "maniskill/PushCube/images/episode_696/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.400, 0.485]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.399, 0.616]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_696", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_696.json" + } + }, + { + "id": "maniskill_PushCube_out_330", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_330/frame_0045.jpg", + "maniskill/PushCube/images/episode_330/frame_0052.jpg", + "maniskill/PushCube/images/episode_330/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.379, 0.580]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.373, 0.717]). The trajectory involves 24 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_330", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_330.json" + } + }, + { + "id": "maniskill_PushCube_out_266", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_266/frame_0039.jpg", + "maniskill/PushCube/images/episode_266/frame_0047.jpg", + "maniskill/PushCube/images/episode_266/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.448, 0.569]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.452, 0.712]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_266", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_266.json" + } + }, + { + "id": "maniskill_PushCube_out_68", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_68/frame_0043.jpg", + "maniskill/PushCube/images/episode_68/frame_0049.jpg", + "maniskill/PushCube/images/episode_68/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.509]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.371, 0.643]). The trajectory involves 20 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_68", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_68.json" + } + }, + { + "id": "maniskill_PushCube_out_236", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_236/frame_0048.jpg", + "maniskill/PushCube/images/episode_236/frame_0055.jpg", + "maniskill/PushCube/images/episode_236/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.427, 0.445]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.427, 0.560]). The trajectory involves 23 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_236", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_236.json" + } + }, + { + "id": "maniskill_PushCube_out_313", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_313/frame_0041.jpg", + "maniskill/PushCube/images/episode_313/frame_0048.jpg", + "maniskill/PushCube/images/episode_313/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.328, 0.547]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.318, 0.687]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_313", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_313.json" + } + }, + { + "id": "maniskill_PushCube_out_786", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_786/frame_0039.jpg", + "maniskill/PushCube/images/episode_786/frame_0046.jpg", + "maniskill/PushCube/images/episode_786/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.444, 0.535]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.447, 0.673]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_786", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_786.json" + } + }, + { + "id": "maniskill_PushCube_out_657", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_657/frame_0038.jpg", + "maniskill/PushCube/images/episode_657/frame_0046.jpg", + "maniskill/PushCube/images/episode_657/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.464, 0.544]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.469, 0.689]). The trajectory involves 25 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_657", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_657.json" + } + }, + { + "id": "maniskill_PushCube_out_137", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_137/frame_0042.jpg", + "maniskill/PushCube/images/episode_137/frame_0049.jpg", + "maniskill/PushCube/images/episode_137/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.455, 0.516]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.460, 0.654]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_137", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_137.json" + } + }, + { + "id": "maniskill_PushCube_out_819", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_819/frame_0039.jpg", + "maniskill/PushCube/images/episode_819/frame_0046.jpg", + "maniskill/PushCube/images/episode_819/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.547]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.370, 0.686]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_819", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_819.json" + } + }, + { + "id": "maniskill_PushCube_out_532", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_532/frame_0048.jpg", + "maniskill/PushCube/images/episode_532/frame_0054.jpg", + "maniskill/PushCube/images/episode_532/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.311, 0.480]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.301, 0.610]). The trajectory involves 20 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_532", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_532.json" + } + }, + { + "id": "maniskill_PushCube_out_787", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_787/frame_0048.jpg", + "maniskill/PushCube/images/episode_787/frame_0055.jpg", + "maniskill/PushCube/images/episode_787/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.385, 0.444]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.383, 0.561]). The trajectory involves 23 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_787", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_787.json" + } + }, + { + "id": "maniskill_PushCube_out_21", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_21/frame_0045.jpg", + "maniskill/PushCube/images/episode_21/frame_0051.jpg", + "maniskill/PushCube/images/episode_21/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.437, 0.494]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.438, 0.626]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_21", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_21.json" + } + }, + { + "id": "maniskill_PushCube_out_910", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_910/frame_0046.jpg", + "maniskill/PushCube/images/episode_910/frame_0053.jpg", + "maniskill/PushCube/images/episode_910/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.391, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.389, 0.662]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_910", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_910.json" + } + }, + { + "id": "maniskill_PushCube_out_120", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_120/frame_0042.jpg", + "maniskill/PushCube/images/episode_120/frame_0050.jpg", + "maniskill/PushCube/images/episode_120/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.403, 0.479]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.402, 0.609]). The trajectory involves 21 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_120", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 8, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_120.json" + } + }, + { + "id": "maniskill_PushCube_out_950", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_950/frame_0045.jpg", + "maniskill/PushCube/images/episode_950/frame_0051.jpg", + "maniskill/PushCube/images/episode_950/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.416, 0.484]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.416, 0.605]). The trajectory involves 20 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_950", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_950.json" + } + }, + { + "id": "maniskill_PushCube_out_438", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_438/frame_0047.jpg", + "maniskill/PushCube/images/episode_438/frame_0053.jpg", + "maniskill/PushCube/images/episode_438/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.419, 0.473]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.423, 0.589]). The trajectory involves 20 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_438", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_438.json" + } + }, + { + "id": "maniskill_PushCube_out_991", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_991/frame_0046.jpg", + "maniskill/PushCube/images/episode_991/frame_0053.jpg", + "maniskill/PushCube/images/episode_991/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.380, 0.584]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.378, 0.721]). The trajectory involves 24 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_991", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_991.json" + } + }, + { + "id": "maniskill_PushCube_out_704", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_704/frame_0043.jpg", + "maniskill/PushCube/images/episode_704/frame_0051.jpg", + "maniskill/PushCube/images/episode_704/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.339, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.331, 0.761]). The trajectory involves 25 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_704", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_704.json" + } + }, + { + "id": "maniskill_PushCube_out_935", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_935/frame_0046.jpg", + "maniskill/PushCube/images/episode_935/frame_0052.jpg", + "maniskill/PushCube/images/episode_935/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.476, 0.453]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.483, 0.581]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_935", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_935.json" + } + }, + { + "id": "maniskill_PushCube_out_70", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_70/frame_0045.jpg", + "maniskill/PushCube/images/episode_70/frame_0051.jpg", + "maniskill/PushCube/images/episode_70/frame_0064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.375, 0.485]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.372, 0.616]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_70", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_70.json" + } + }, + { + "id": "maniskill_PushCube_out_149", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_149/frame_0043.jpg", + "maniskill/PushCube/images/episode_149/frame_0052.jpg", + "maniskill/PushCube/images/episode_149/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.347, 0.758]). The trajectory involves 29 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_149", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_149.json" + } + }, + { + "id": "maniskill_PushCube_out_537", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_537/frame_0043.jpg", + "maniskill/PushCube/images/episode_537/frame_0051.jpg", + "maniskill/PushCube/images/episode_537/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.364, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.360, 0.760]). The trajectory involves 25 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_537", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_537.json" + } + }, + { + "id": "maniskill_PushCube_out_625", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_625/frame_0052.jpg", + "maniskill/PushCube/images/episode_625/frame_0058.jpg", + "maniskill/PushCube/images/episode_625/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.393, 0.438]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.388, 0.557]). The trajectory involves 18 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_625", + "trajectory_length": 18, + "key_frame_indices": [ + 0, + 6, + 17 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_625.json" + } + }, + { + "id": "maniskill_PushCube_out_491", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_491/frame_0043.jpg", + "maniskill/PushCube/images/episode_491/frame_0050.jpg", + "maniskill/PushCube/images/episode_491/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.494, 0.593]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.501, 0.739]). The trajectory involves 24 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_491", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_491.json" + } + }, + { + "id": "maniskill_PushCube_out_974", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_974/frame_0044.jpg", + "maniskill/PushCube/images/episode_974/frame_0051.jpg", + "maniskill/PushCube/images/episode_974/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.382, 0.626]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.382, 0.768]). The trajectory involves 25 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_974", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_974.json" + } + }, + { + "id": "maniskill_PushCube_out_260", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_260/frame_0041.jpg", + "maniskill/PushCube/images/episode_260/frame_0048.jpg", + "maniskill/PushCube/images/episode_260/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.495, 0.588]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.501, 0.735]). The trajectory involves 25 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_260", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_260.json" + } + }, + { + "id": "maniskill_PushCube_out_130", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_130/frame_0047.jpg", + "maniskill/PushCube/images/episode_130/frame_0054.jpg", + "maniskill/PushCube/images/episode_130/frame_0072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.470, 0.639]). The trajectory involves 26 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_130", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_130.json" + } + }, + { + "id": "maniskill_PushCube_out_913", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_913/frame_0045.jpg", + "maniskill/PushCube/images/episode_913/frame_0055.jpg", + "maniskill/PushCube/images/episode_913/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.492, 0.638]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.498, 0.783]). The trajectory involves 29 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_913", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 10, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_913.json" + } + }, + { + "id": "maniskill_PushCube_out_876", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_876/frame_0043.jpg", + "maniskill/PushCube/images/episode_876/frame_0049.jpg", + "maniskill/PushCube/images/episode_876/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.473, 0.573]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.479, 0.716]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_876", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_876.json" + } + }, + { + "id": "maniskill_PushCube_out_102", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_102/frame_0044.jpg", + "maniskill/PushCube/images/episode_102/frame_0051.jpg", + "maniskill/PushCube/images/episode_102/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.315, 0.510]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.306, 0.648]). The trajectory involves 24 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_102", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_102.json" + } + }, + { + "id": "maniskill_PushCube_out_437", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_437/frame_0050.jpg", + "maniskill/PushCube/images/episode_437/frame_0056.jpg", + "maniskill/PushCube/images/episode_437/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.407, 0.458]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.406, 0.579]). The trajectory involves 21 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_437", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_437.json" + } + }, + { + "id": "maniskill_PushCube_out_25", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_25/frame_0044.jpg", + "maniskill/PushCube/images/episode_25/frame_0051.jpg", + "maniskill/PushCube/images/episode_25/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.411, 0.602]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.412, 0.739]). The trajectory involves 23 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_25", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_25.json" + } + }, + { + "id": "maniskill_PushCube_out_66", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_66/frame_0044.jpg", + "maniskill/PushCube/images/episode_66/frame_0050.jpg", + "maniskill/PushCube/images/episode_66/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.410, 0.501]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.408, 0.634]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_66", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_66.json" + } + }, + { + "id": "maniskill_PushCube_out_335", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_335/frame_0043.jpg", + "maniskill/PushCube/images/episode_335/frame_0050.jpg", + "maniskill/PushCube/images/episode_335/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.431, 0.615]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.434, 0.762]). The trajectory involves 25 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_335", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_335.json" + } + }, + { + "id": "maniskill_PushCube_out_111", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_111/frame_0045.jpg", + "maniskill/PushCube/images/episode_111/frame_0054.jpg", + "maniskill/PushCube/images/episode_111/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.374, 0.599]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.367, 0.743]). The trajectory involves 29 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_111", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 9, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_111.json" + } + }, + { + "id": "maniskill_PushCube_out_426", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_426/frame_0043.jpg", + "maniskill/PushCube/images/episode_426/frame_0051.jpg", + "maniskill/PushCube/images/episode_426/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.371, 0.620]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.368, 0.768]). The trajectory involves 25 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_426", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_426.json" + } + }, + { + "id": "maniskill_PushCube_out_36", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_36/frame_0041.jpg", + "maniskill/PushCube/images/episode_36/frame_0048.jpg", + "maniskill/PushCube/images/episode_36/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.427, 0.592]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.427, 0.741]). The trajectory involves 25 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_36", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_36.json" + } + }, + { + "id": "maniskill_PushCube_out_204", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_204/frame_0047.jpg", + "maniskill/PushCube/images/episode_204/frame_0053.jpg", + "maniskill/PushCube/images/episode_204/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.383, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.380, 0.632]). The trajectory involves 20 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_204", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_204.json" + } + }, + { + "id": "maniskill_PushCube_out_213", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_213/frame_0040.jpg", + "maniskill/PushCube/images/episode_213/frame_0047.jpg", + "maniskill/PushCube/images/episode_213/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.309, 0.532]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.296, 0.669]). The trajectory involves 22 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_213", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_213.json" + } + }, + { + "id": "maniskill_PushCube_out_591", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_591/frame_0041.jpg", + "maniskill/PushCube/images/episode_591/frame_0048.jpg", + "maniskill/PushCube/images/episode_591/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.481, 0.544]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.487, 0.682]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_591", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_591.json" + } + }, + { + "id": "maniskill_PushCube_out_744", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_744/frame_0043.jpg", + "maniskill/PushCube/images/episode_744/frame_0048.jpg", + "maniskill/PushCube/images/episode_744/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.479, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.487, 0.618]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_744", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 5, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_744.json" + } + }, + { + "id": "maniskill_PushCube_out_98", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_98/frame_0045.jpg", + "maniskill/PushCube/images/episode_98/frame_0051.jpg", + "maniskill/PushCube/images/episode_98/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.391, 0.458]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.387, 0.588]). The trajectory involves 21 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_98", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_98.json" + } + }, + { + "id": "maniskill_PushCube_out_262", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_262/frame_0050.jpg", + "maniskill/PushCube/images/episode_262/frame_0056.jpg", + "maniskill/PushCube/images/episode_262/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.349, 0.500]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.342, 0.629]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_262", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_262.json" + } + }, + { + "id": "maniskill_PushCube_out_267", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_267/frame_0039.jpg", + "maniskill/PushCube/images/episode_267/frame_0046.jpg", + "maniskill/PushCube/images/episode_267/frame_0060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.341, 0.536]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.332, 0.675]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_267", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_267.json" + } + }, + { + "id": "maniskill_PushCube_out_244", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_244/frame_0043.jpg", + "maniskill/PushCube/images/episode_244/frame_0050.jpg", + "maniskill/PushCube/images/episode_244/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.427, 0.447]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.429, 0.578]). The trajectory involves 21 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_244", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_244.json" + } + }, + { + "id": "maniskill_PushCube_out_311", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_311/frame_0048.jpg", + "maniskill/PushCube/images/episode_311/frame_0058.jpg", + "maniskill/PushCube/images/episode_311/frame_0077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.335, 0.623]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.331, 0.768]). The trajectory involves 30 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_311", + "trajectory_length": 30, + "key_frame_indices": [ + 0, + 10, + 29 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_311.json" + } + }, + { + "id": "maniskill_PushCube_out_937", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_937/frame_0040.jpg", + "maniskill/PushCube/images/episode_937/frame_0048.jpg", + "maniskill/PushCube/images/episode_937/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.572]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.357, 0.715]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_937", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_937.json" + } + }, + { + "id": "maniskill_PushCube_out_17", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_17/frame_0040.jpg", + "maniskill/PushCube/images/episode_17/frame_0047.jpg", + "maniskill/PushCube/images/episode_17/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.392, 0.523]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.390, 0.662]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_17", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_17.json" + } + }, + { + "id": "maniskill_PushCube_out_981", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_981/frame_0043.jpg", + "maniskill/PushCube/images/episode_981/frame_0050.jpg", + "maniskill/PushCube/images/episode_981/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.360, 0.582]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.356, 0.726]). The trajectory involves 23 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_981", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_981.json" + } + }, + { + "id": "maniskill_PushCube_out_730", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_730/frame_0043.jpg", + "maniskill/PushCube/images/episode_730/frame_0050.jpg", + "maniskill/PushCube/images/episode_730/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.329, 0.499]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.319, 0.637]). The trajectory involves 26 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_730", + "trajectory_length": 26, + "key_frame_indices": [ + 0, + 7, + 25 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_730.json" + } + }, + { + "id": "maniskill_PushCube_out_618", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_618/frame_0049.jpg", + "maniskill/PushCube/images/episode_618/frame_0058.jpg", + "maniskill/PushCube/images/episode_618/frame_0075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.338, 0.626]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.334, 0.770]). The trajectory involves 27 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_618", + "trajectory_length": 27, + "key_frame_indices": [ + 0, + 9, + 26 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_618.json" + } + }, + { + "id": "maniskill_PushCube_out_306", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_306/frame_0047.jpg", + "maniskill/PushCube/images/episode_306/frame_0053.jpg", + "maniskill/PushCube/images/episode_306/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.368, 0.493]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.366, 0.613]). The trajectory involves 20 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_306", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_306.json" + } + }, + { + "id": "maniskill_PushCube_out_630", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_630/frame_0051.jpg", + "maniskill/PushCube/images/episode_630/frame_0057.jpg", + "maniskill/PushCube/images/episode_630/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.404, 0.493]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.402, 0.611]). The trajectory involves 20 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_630", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_630.json" + } + }, + { + "id": "maniskill_PushCube_out_687", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_687/frame_0048.jpg", + "maniskill/PushCube/images/episode_687/frame_0054.jpg", + "maniskill/PushCube/images/episode_687/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.525]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.356, 0.665]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_687", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_687.json" + } + }, + { + "id": "maniskill_PushCube_out_402", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_402/frame_0042.jpg", + "maniskill/PushCube/images/episode_402/frame_0048.jpg", + "maniskill/PushCube/images/episode_402/frame_0061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.404, 0.504]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.404, 0.638]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_402", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_402.json" + } + }, + { + "id": "maniskill_PushCube_out_750", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_750/frame_0048.jpg", + "maniskill/PushCube/images/episode_750/frame_0055.jpg", + "maniskill/PushCube/images/episode_750/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.454, 0.436]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.458, 0.555]). The trajectory involves 20 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_750", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 7, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_750.json" + } + }, + { + "id": "maniskill_PushCube_out_325", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_325/frame_0045.jpg", + "maniskill/PushCube/images/episode_325/frame_0051.jpg", + "maniskill/PushCube/images/episode_325/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.439, 0.490]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.442, 0.621]). The trajectory involves 19 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_325", + "trajectory_length": 19, + "key_frame_indices": [ + 0, + 6, + 18 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_325.json" + } + }, + { + "id": "maniskill_PushCube_out_531", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_531/frame_0048.jpg", + "maniskill/PushCube/images/episode_531/frame_0054.jpg", + "maniskill/PushCube/images/episode_531/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.462, 0.423]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.466, 0.553]). The trajectory involves 24 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_531", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 6, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_531.json" + } + }, + { + "id": "maniskill_PushCube_out_869", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_869/frame_0046.jpg", + "maniskill/PushCube/images/episode_869/frame_0053.jpg", + "maniskill/PushCube/images/episode_869/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.378, 0.505]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.376, 0.644]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_869", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_869.json" + } + }, + { + "id": "maniskill_PushCube_out_957", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_957/frame_0053.jpg", + "maniskill/PushCube/images/episode_957/frame_0059.jpg", + "maniskill/PushCube/images/episode_957/frame_0073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.466, 0.438]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.471, 0.566]). The trajectory involves 21 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_957", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 6, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_957.json" + } + }, + { + "id": "maniskill_PushCube_out_256", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_256/frame_0046.jpg", + "maniskill/PushCube/images/episode_256/frame_0053.jpg", + "maniskill/PushCube/images/episode_256/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.404, 0.578]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.403, 0.716]). The trajectory involves 25 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_256", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_256.json" + } + }, + { + "id": "maniskill_PushCube_out_858", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_858/frame_0050.jpg", + "maniskill/PushCube/images/episode_858/frame_0056.jpg", + "maniskill/PushCube/images/episode_858/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.401, 0.453]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.400, 0.582]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_858", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_858.json" + } + }, + { + "id": "maniskill_PushCube_out_169", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_169/frame_0043.jpg", + "maniskill/PushCube/images/episode_169/frame_0051.jpg", + "maniskill/PushCube/images/episode_169/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.358, 0.613]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.352, 0.760]). The trajectory involves 25 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_169", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 8, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_169.json" + } + }, + { + "id": "maniskill_PushCube_out_626", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_626/frame_0049.jpg", + "maniskill/PushCube/images/episode_626/frame_0055.jpg", + "maniskill/PushCube/images/episode_626/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.463, 0.483]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.467, 0.613]). The trajectory involves 20 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_626", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_626.json" + } + }, + { + "id": "maniskill_PushCube_out_917", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_917/frame_0041.jpg", + "maniskill/PushCube/images/episode_917/frame_0048.jpg", + "maniskill/PushCube/images/episode_917/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.317, 0.514]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.306, 0.653]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_917", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_917.json" + } + }, + { + "id": "maniskill_PushCube_out_517", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_517/frame_0047.jpg", + "maniskill/PushCube/images/episode_517/frame_0054.jpg", + "maniskill/PushCube/images/episode_517/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.450, 0.546]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.452, 0.685]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_517", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_517.json" + } + }, + { + "id": "maniskill_PushCube_out_319", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_319/frame_0046.jpg", + "maniskill/PushCube/images/episode_319/frame_0053.jpg", + "maniskill/PushCube/images/episode_319/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.398, 0.524]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.398, 0.658]). The trajectory involves 24 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_319", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_319.json" + } + }, + { + "id": "maniskill_PushCube_out_464", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_464/frame_0044.jpg", + "maniskill/PushCube/images/episode_464/frame_0052.jpg", + "maniskill/PushCube/images/episode_464/frame_0071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.430, 0.627]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.437, 0.771]). The trajectory involves 28 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_464", + "trajectory_length": 28, + "key_frame_indices": [ + 0, + 8, + 27 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_464.json" + } + }, + { + "id": "maniskill_PushCube_out_312", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_312/frame_0050.jpg", + "maniskill/PushCube/images/episode_312/frame_0056.jpg", + "maniskill/PushCube/images/episode_312/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.443, 0.459]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.447, 0.588]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_312", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_312.json" + } + }, + { + "id": "maniskill_PushCube_out_550", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_550/frame_0043.jpg", + "maniskill/PushCube/images/episode_550/frame_0049.jpg", + "maniskill/PushCube/images/episode_550/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.394, 0.530]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.393, 0.669]). The trajectory involves 23 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_550", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 6, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_550.json" + } + }, + { + "id": "maniskill_PushCube_out_171", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_171/frame_0043.jpg", + "maniskill/PushCube/images/episode_171/frame_0050.jpg", + "maniskill/PushCube/images/episode_171/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.482, 0.487]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.490, 0.618]). The trajectory involves 21 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_171", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_171.json" + } + }, + { + "id": "maniskill_PushCube_out_956", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_956/frame_0047.jpg", + "maniskill/PushCube/images/episode_956/frame_0054.jpg", + "maniskill/PushCube/images/episode_956/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.339, 0.505]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.332, 0.643]). The trajectory involves 22 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_956", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_956.json" + } + }, + { + "id": "maniskill_PushCube_out_915", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_915/frame_0047.jpg", + "maniskill/PushCube/images/episode_915/frame_0053.jpg", + "maniskill/PushCube/images/episode_915/frame_0066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.483, 0.455]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.490, 0.583]). The trajectory involves 20 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_915", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_915.json" + } + }, + { + "id": "maniskill_PushCube_out_308", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_308/frame_0039.jpg", + "maniskill/PushCube/images/episode_308/frame_0047.jpg", + "maniskill/PushCube/images/episode_308/frame_0062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.425, 0.575]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.426, 0.718]). The trajectory involves 24 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_308", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 8, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_308.json" + } + }, + { + "id": "maniskill_PushCube_out_816", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_816/frame_0044.jpg", + "maniskill/PushCube/images/episode_816/frame_0051.jpg", + "maniskill/PushCube/images/episode_816/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.443, 0.539]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.445, 0.679]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_816", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_816.json" + } + }, + { + "id": "maniskill_PushCube_out_75", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_75/frame_0043.jpg", + "maniskill/PushCube/images/episode_75/frame_0050.jpg", + "maniskill/PushCube/images/episode_75/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.361, 0.478]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.357, 0.609]). The trajectory involves 21 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_75", + "trajectory_length": 21, + "key_frame_indices": [ + 0, + 7, + 20 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_75.json" + } + }, + { + "id": "maniskill_PushCube_out_274", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_274/frame_0049.jpg", + "maniskill/PushCube/images/episode_274/frame_0055.jpg", + "maniskill/PushCube/images/episode_274/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.441, 0.444]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.565]). The trajectory involves 22 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_274", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_274.json" + } + }, + { + "id": "maniskill_PushCube_out_610", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_610/frame_0042.jpg", + "maniskill/PushCube/images/episode_610/frame_0049.jpg", + "maniskill/PushCube/images/episode_610/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.384, 0.553]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.382, 0.692]). The trajectory involves 22 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_610", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_610.json" + } + }, + { + "id": "maniskill_PushCube_out_13", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_13/frame_0046.jpg", + "maniskill/PushCube/images/episode_13/frame_0053.jpg", + "maniskill/PushCube/images/episode_13/frame_0067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.308, 0.540]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.298, 0.678]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_13", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 7, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_13.json" + } + }, + { + "id": "maniskill_PushCube_out_538", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_538/frame_0050.jpg", + "maniskill/PushCube/images/episode_538/frame_0056.jpg", + "maniskill/PushCube/images/episode_538/frame_0069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.473, 0.498]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.485, 0.621]). The trajectory involves 20 precise waypoints with total movement distance of 0.125." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_538", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_538.json" + } + }, + { + "id": "maniskill_PushCube_out_884", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_884/frame_0050.jpg", + "maniskill/PushCube/images/episode_884/frame_0058.jpg", + "maniskill/PushCube/images/episode_884/frame_0078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.419, 0.641]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.423, 0.787]). The trajectory involves 29 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_884", + "trajectory_length": 29, + "key_frame_indices": [ + 0, + 8, + 28 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_884.json" + } + }, + { + "id": "maniskill_PushCube_out_485", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_485/frame_0044.jpg", + "maniskill/PushCube/images/episode_485/frame_0051.jpg", + "maniskill/PushCube/images/episode_485/frame_0068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.435, 0.624]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.442, 0.766]). The trajectory involves 25 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_485", + "trajectory_length": 25, + "key_frame_indices": [ + 0, + 7, + 24 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_485.json" + } + }, + { + "id": "maniskill_PushCube_out_501", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_501/frame_0042.jpg", + "maniskill/PushCube/images/episode_501/frame_0049.jpg", + "maniskill/PushCube/images/episode_501/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.443, 0.517]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.444, 0.656]). The trajectory involves 24 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_501", + "trajectory_length": 24, + "key_frame_indices": [ + 0, + 7, + 23 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_501.json" + } + }, + { + "id": "maniskill_PushCube_out_336", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_336/frame_0043.jpg", + "maniskill/PushCube/images/episode_336/frame_0051.jpg", + "maniskill/PushCube/images/episode_336/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.383, 0.558]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.382, 0.699]). The trajectory involves 23 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_336", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 8, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_336.json" + } + }, + { + "id": "maniskill_PushCube_out_160", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_160/frame_0044.jpg", + "maniskill/PushCube/images/episode_160/frame_0050.jpg", + "maniskill/PushCube/images/episode_160/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.460, 0.499]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.464, 0.632]). The trajectory involves 20 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_160", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_160.json" + } + }, + { + "id": "maniskill_PushCube_out_406", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_406/frame_0048.jpg", + "maniskill/PushCube/images/episode_406/frame_0055.jpg", + "maniskill/PushCube/images/episode_406/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.326, 0.442]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.315, 0.554]). The trajectory involves 23 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_406", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_406.json" + } + }, + { + "id": "maniskill_PushCube_out_395", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_395/frame_0051.jpg", + "maniskill/PushCube/images/episode_395/frame_0057.jpg", + "maniskill/PushCube/images/episode_395/frame_0070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.354, 0.462]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.346, 0.591]). The trajectory involves 20 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_395", + "trajectory_length": 20, + "key_frame_indices": [ + 0, + 6, + 19 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_395.json" + } + }, + { + "id": "maniskill_PushCube_out_761", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_761/frame_0042.jpg", + "maniskill/PushCube/images/episode_761/frame_0048.jpg", + "maniskill/PushCube/images/episode_761/frame_0063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.357, 0.534]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.351, 0.673]). The trajectory involves 22 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_761", + "trajectory_length": 22, + "key_frame_indices": [ + 0, + 6, + 21 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_761.json" + } + }, + { + "id": "maniskill_PushCube_out_777", + "task": "Push the cube to a goal region in front of it.", + "selected_step": 1, + "image": [ + "maniskill/PushCube/images/episode_777/frame_0043.jpg", + "maniskill/PushCube/images/episode_777/frame_0050.jpg", + "maniskill/PushCube/images/episode_777/frame_0065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: Push the cube to a goal region in front of it.?" + }, + { + "from": "gpt", + "value": "To complete this button/switch activation: Push the cube to a goal region in front of it., execute the following phases: 1) Initial approach phase (start at [0.476, 0.588]), 2) Active manipulation phase (perform simple movements), 3) Completion phase (end at [0.482, 0.732]). The trajectory involves 23 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-maniskill", + "task_name": "PushCube", + "episode_id": "out_777", + "trajectory_length": 23, + "key_frame_indices": [ + 0, + 7, + 22 + ], + "coordinate_system": "normalized", + "original_file": "maniskill/PushCube/label/out_777.json" + } + } +] \ No newline at end of file